CN111924133A - Formation configuration design method and system suitable for high-precision three-dimensional positioning of aerial signals - Google Patents
Formation configuration design method and system suitable for high-precision three-dimensional positioning of aerial signals Download PDFInfo
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Abstract
The invention provides a formation configuration design method and a formation configuration design system suitable for high-precision three-dimensional positioning of aerial signals, wherein the formation configuration design method comprises the following steps: the expected space configuration form of the four-satellite formation is considered for high-precision three-dimensional positioning without altitude hypothesis of aerial signals, a plurality of configuration parameter optimization problems are converted into single variable optimization problems, meanwhile, the collision risk of formation satellites is avoided, and the constraint of four-satellite positioning performance and common vision performance is met. The method fully considers the actual requirement that four satellites simultaneously receive target signals, simplifies the four-satellite configuration multi-parameter optimization design problem into the optimization design problem with an auxiliary angle as a single variable aiming at the four-satellite relative position relation expected by high-precision three-dimensional positioning without altitude hypothesis of aerial signals, and avoids the collision risk of formation satellites in a formation configuration form.
Description
Technical Field
The invention relates to the technical field of electronic signal positioning, in particular to a formation configuration design method and a formation configuration design system suitable for high-precision three-dimensional positioning of aerial signals.
Background
With the increase of the demand of electronic signal positioning, more and more formation flying satellites are put into use in the field, and the requirements of full frequency band, full time, full area, full target coverage and the like are provided for a signal positioning satellite system, and meanwhile, the signal positioning satellite system also has the capabilities of high-sensitivity receiving, high-precision measurement and high identification judgment.
When the existing three-star time difference system is used for positioning an aerial target signal, because elevation information of a radiation source cannot be solved through two groups of time difference positioning equations, the elevation information needs to be assumed, and obvious application constraint conditions exist. A four-satellite scheme is formed by adding one satellite, and a group of time difference positioning equations are added when the air target signals are positioned, so that three-dimensional positioning without elevation hypothesis can be realized, and higher three-dimensional positioning precision of a radiation source is obtained; under the condition of also assuming elevation, the four-star system has faster convergence rate of locating and tracking the radiation source.
The relative position relation of the four stars changes along with time due to the limitation of relative orbit dynamics and perturbation conditions, and the formation configuration of the four stars needs to be designed to enable the formation satellites to meet the requirement of high-precision positioning performance.
In the practical application process of signal positioning, four satellites are required to simultaneously receive target signals, the common view performance requirement is considered comprehensively in consideration of the positioning condition of narrow beam signals, and the size of formation cannot be increased only in consideration of the positioning performance.
The existing method is not completely suitable for the formation configuration design problem of air signal elevation-free assumed three-dimensional positioning, and a satellite formation configuration design method (computer simulation 2014,031 (2): 126 and 130) in the related method only describes the relationship between configuration parameters and satellite distance information, and is not suitable for the requirement of a time-frequency difference integrated positioning system on formation configuration; a distributed SAR configuration (patent number CN201810861642.9) with a main satellite positioned at the center and an auxiliary satellite cartwheel formation introduces a design method of multi-satellite coplanar flight-around ellipse formation, which is not suitable for the configuration design of the out-of-plane space formation required by the invention; InSAR satellite formation configuration multi-constraint optimization design method research (Shanghai navigation sky, 2014,31(6)6-12) provides a two-star different-surface formation configuration optimization design method, formation configuration parameters are optimized, configuration parameters required to be designed for two stars are few, and the speed for directly optimizing all configuration parameters for four-star formation is slow.
The formation configuration design method suitable for high-precision three-dimensional positioning of aerial signals considers the expected four-satellite relative position relation of high-precision three-dimensional positioning without altitude hypothesis of aerial signals, and simultaneously converts the formation size of the four-satellite formation aiming at the common view problem, so that the formation configuration of the four-satellite positioning can better meet the actual engineering requirements. Compared with the method for optimizing all configuration parameters, the method for optimizing the four-star formation of the three-dimensional space array only expresses all configuration parameters by using the configuration size and one auxiliary angle according to the expected regular triangle projection position relation of the non-elevation assumed three-dimensional positioning, so that the auxiliary angle is only required to be subjected to single-variable optimization, the configuration optimization efficiency is greatly improved, the collision risk of the four-star formation is avoided on the configuration scheme, and the formation safety is improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a formation configuration design method and a formation configuration design system which are suitable for high-precision three-dimensional positioning of aerial signals.
The invention provides a formation configuration design method suitable for high-precision three-dimensional positioning of aerial signals, which comprises the following steps:
the expected space configuration form of the four-satellite formation is considered for high-precision three-dimensional positioning without altitude hypothesis of aerial signals, a plurality of configuration parameter optimization problems are converted into single variable optimization problems, meanwhile, the collision risk of formation satellites is avoided, and the constraint of four-satellite positioning performance and common vision performance is met.
Preferably, the formation space configuration form of the four-star formation is that three secondary stars fly around the main star as the center, wherein two secondary stars have the same in-plane configuration size and out-plane configuration size, the relative eccentricity vector phase angles of the two secondary stars are opposite numbers, and when the latitude amplitude angle of the main star is 0 degree or 180 degrees, the three secondary stars have the same height and form a regular triangle.
Preferably, the method comprises the following steps:
step S1: determining the formation configuration size;
step S2: determining a configuration parameter relationship and selecting a parameter to be optimized;
step S3: determining a performance index function and a constraint condition;
step S4: and optimizing the auxiliary angle and obtaining formation configuration parameters.
Preferably, the step S1:
and calculating the size of the formation configuration according to the minimum beam width, the expected detection diameter and the satellite orbit height of the target signal by considering the requirement of simultaneously receiving the target signal by four stars.
Preferably, the step S2:
and determining the relation between configuration parameters according to a formation configuration scheme without collision risk, and when the main satellite passes through a descending intersection point, taking the included angle between the projection of the position vector of the main satellite pointing to the auxiliary satellite 1 in the orbit plane of the main satellite and the direction of the main satellite deviating from the geocentric direction as an optimization parameter.
Preferably, the step S3:
the method comprises the steps of selecting an aerial signal elevation-free hypothesis precision-preserving average positioning area in a certain latitude range as a performance index function, and selecting a surface signal precision-preserving average positioning area in a full latitude range as a constraint condition of positioning performance.
Preferably, the step S4:
and optimizing the auxiliary angle by adopting a parameter optimization algorithm with nonlinear constraint, and enabling the altitude-free hypothesis precision-guaranteed average positioning area of the aerial signals within a certain latitude range to be maximum on the basis of meeting the constraint condition of the ground surface signal precision-guaranteed average positioning area within the full latitude range.
The invention provides a formation configuration design system adapting to high-precision three-dimensional positioning of aerial signals, which comprises:
the expected space configuration form of the four-satellite formation is considered for high-precision three-dimensional positioning of aerial signals without elevation hypothesis, a plurality of configuration parameter optimization problems are converted into single variable optimization problems, meanwhile, the collision risk of formation satellites is avoided, and the constraint of four-satellite positioning performance and common vision performance is met;
the four-star formation space configuration form is that three auxiliary stars fly around the main star as the center, wherein the two auxiliary stars have the same in-plane configuration size and out-plane configuration size, the relative eccentricity ratio vector phase angles of the two auxiliary stars are opposite numbers, and when the main star runs to a latitude argument of 0 degree or 180 degrees, the three auxiliary stars have the same height and form a regular triangle.
Preferably, the method comprises the following steps:
module S1: determining the formation configuration size;
module S2: determining a configuration parameter relationship and selecting a parameter to be optimized;
module S3: determining a performance index function and a constraint condition;
module S4: and optimizing the auxiliary angle and obtaining formation configuration parameters.
Preferably, the module S1:
considering the requirement that four stars receive target signals simultaneously, calculating to obtain the size of a formation configuration according to the minimum beam width, the expected detection diameter and the satellite orbit height of the target signals;
the module S2:
determining the relation between configuration parameters according to a formation configuration scheme without collision risk, and selecting an included angle between the projection of a position vector of a main satellite pointing to a secondary satellite 1 in the orbit plane of the main satellite and the direction of the main satellite deviating from the geocentric direction as an optimization parameter when the main satellite passes through a descending intersection point;
the module S3:
selecting the aerial signal elevation-free hypothesis precision-preserving average positioning area in a certain latitude range as a performance index function, and selecting the earth surface signal precision-preserving average positioning area in a full latitude range as a constraint condition of positioning performance;
the module S4:
and optimizing the auxiliary angle by adopting a parameter optimization algorithm with nonlinear constraint, and enabling the altitude-free hypothesis precision-guaranteed average positioning area of the aerial signals within a certain latitude range to be maximum on the basis of meeting the constraint condition of the ground surface signal precision-guaranteed average positioning area within the full latitude range.
Compared with the prior art, the invention has the following beneficial effects:
the method fully considers the actual requirement that four satellites simultaneously receive target signals, simplifies the four-satellite configuration multi-parameter optimization design problem into the optimization design problem with an auxiliary angle as a single variable aiming at the four-satellite relative position relation expected by high-precision three-dimensional positioning without altitude hypothesis of aerial signals, and avoids the collision risk of formation satellites in a formation configuration form.
Compared with the method for optimizing all configuration parameters, the method for optimizing the four-star formation of the three-dimensional space array only expresses all configuration parameters by using the configuration size and one auxiliary angle according to the expected regular triangle projection position relation of the non-elevation assumed three-dimensional positioning, so that the auxiliary angle is only required to be subjected to single-variable optimization, the configuration optimization efficiency is greatly improved, the collision risk of the four-star formation is avoided on the configuration scheme, and the formation safety is improved. The method can be used for designing the formation configuration of signal positioning, and the formation configuration with the optimal three-dimensional positioning performance of the air signals in the low latitude area is obtained through optimization by simplifying the optimization design problem of the four-star configuration and multiple parameters into the optimization design problem with the auxiliary angle as a single variable, so that the method has important significance for improving the high-precision three-dimensional positioning capability of the air signals.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of the steps of the present invention.
Fig. 2 is a schematic diagram of a projection of relative positions of four stars.
Fig. 3 is a schematic diagram (side view) of relative positions of four stars.
Fig. 4 is a schematic diagram (top view) of the relative positions of the four stars.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a formation configuration design method suitable for high-precision three-dimensional positioning of aerial signals, which comprises the following steps:
the expected space configuration form of the four-satellite formation is considered for high-precision three-dimensional positioning without altitude hypothesis of aerial signals, a plurality of configuration parameter optimization problems are converted into single variable optimization problems, meanwhile, the collision risk of formation satellites is avoided, and the constraint of four-satellite positioning performance and common vision performance is met.
Specifically, the formation space configuration form of the four-star formation is that three secondary stars fly around a main star as a center, wherein two secondary stars have the same in-plane configuration size and out-plane configuration size, the relative eccentricity vector phase angles of the two secondary stars are opposite numbers, and when the latitude argument of the main star is 0 degree or 180 degrees, the three secondary stars have the same height and form a regular triangle.
Specifically, the method comprises the following steps:
step S1: determining the formation configuration size;
step S2: determining a configuration parameter relationship and selecting a parameter to be optimized;
step S3: determining a performance index function and a constraint condition;
step S4: and optimizing the auxiliary angle and obtaining formation configuration parameters.
Specifically, the step S1:
and calculating the size of the formation configuration according to the minimum beam width, the expected detection diameter and the satellite orbit height of the target signal by considering the requirement of simultaneously receiving the target signal by four stars.
Specifically, the step S2:
and determining the relation between configuration parameters according to a formation configuration scheme without collision risk, and when the main satellite passes through a descending intersection point, taking the included angle between the projection of the position vector of the main satellite pointing to the auxiliary satellite 1 in the orbit plane of the main satellite and the direction of the main satellite deviating from the geocentric direction as an optimization parameter.
Specifically, the step S3:
the method comprises the steps of selecting an aerial signal elevation-free hypothesis precision-preserving average positioning area in a certain latitude range as a performance index function, and selecting a surface signal precision-preserving average positioning area in a full latitude range as a constraint condition of positioning performance.
Specifically, the step S4:
and optimizing the auxiliary angle by adopting a parameter optimization algorithm with nonlinear constraint, and enabling the altitude-free hypothesis precision-guaranteed average positioning area of the aerial signals within a certain latitude range to be maximum on the basis of meeting the constraint condition of the ground surface signal precision-guaranteed average positioning area within the full latitude range.
The invention provides a formation configuration design system adapting to high-precision three-dimensional positioning of aerial signals, which comprises:
the expected space configuration form of the four-satellite formation is considered for high-precision three-dimensional positioning of aerial signals without elevation hypothesis, a plurality of configuration parameter optimization problems are converted into single variable optimization problems, meanwhile, the collision risk of formation satellites is avoided, and the constraint of four-satellite positioning performance and common vision performance is met;
the four-star formation space configuration form is that three auxiliary stars fly around the main star as the center, wherein the two auxiliary stars have the same in-plane configuration size and out-plane configuration size, the relative eccentricity ratio vector phase angles of the two auxiliary stars are opposite numbers, and when the main star runs to a latitude argument of 0 degree or 180 degrees, the three auxiliary stars have the same height and form a regular triangle.
Specifically, the method comprises the following steps:
module S1: determining the formation configuration size;
module S2: determining a configuration parameter relationship and selecting a parameter to be optimized;
module S3: determining a performance index function and a constraint condition;
module S4: and optimizing the auxiliary angle and obtaining formation configuration parameters.
Specifically, the module S1:
considering the requirement that four stars receive target signals simultaneously, calculating to obtain the size of a formation configuration according to the minimum beam width, the expected detection diameter and the satellite orbit height of the target signals;
the module S2:
determining the relation between configuration parameters according to a formation configuration scheme without collision risk, and selecting an included angle between the projection of a position vector of a main satellite pointing to a secondary satellite 1 in the orbit plane of the main satellite and the direction of the main satellite deviating from the geocentric direction as an optimization parameter when the main satellite passes through a descending intersection point;
the module S3:
selecting the aerial signal elevation-free hypothesis precision-preserving average positioning area in a certain latitude range as a performance index function, and selecting the earth surface signal precision-preserving average positioning area in a full latitude range as a constraint condition of positioning performance;
the module S4:
and optimizing the auxiliary angle by adopting a parameter optimization algorithm with nonlinear constraint, and enabling the altitude-free hypothesis precision-guaranteed average positioning area of the aerial signals within a certain latitude range to be maximum on the basis of meeting the constraint condition of the ground surface signal precision-guaranteed average positioning area within the full latitude range.
The present invention will be described more specifically below with reference to preferred examples.
Preferred example 1:
the invention aims to solve the problem of designing a four-satellite formation configuration, so that the three-dimensional positioning performance optimization without elevation hypothesis on aerial target signals in low latitude areas is realized on the basis of meeting the requirement of surface signal positioning performance, and meanwhile, the four-satellite formation configuration has better instantaneous common-view capability aiming at narrow-beam target signals and reduces the formation satellite collision risk. In order to solve the technical problem, the invention comprises the following steps:
step 1: determining formation configuration size
And calculating the size of the formation configuration according to the minimum beam width, the expected detection diameter and the satellite orbit height of the target signal by considering the requirement of simultaneously receiving the target signal by four stars.
Step 2: determining configuration parameter relationship and selecting parameters to be optimized
And determining the relation between configuration parameters according to a formation configuration scheme without collision risk, and when the main satellite passes through a descending intersection point, taking the included angle between the projection of the position vector of the main satellite pointing to the auxiliary satellite 1 in the orbit plane of the main satellite and the direction of the main satellite deviating from the geocentric direction as an optimization parameter.
And 3, step 3: determining performance indicator functions and constraints
The method comprises the steps of selecting an aerial signal elevation-free hypothesis precision-preserving average positioning area in a certain latitude range as a performance index function, and selecting a surface signal precision-preserving average positioning area in a full latitude range as a constraint condition of positioning performance.
And 4, step 4: optimizing the auxiliary angle and obtaining formation configuration parameters
And optimizing the auxiliary angle by adopting a parameter optimization algorithm with nonlinear constraint, and enabling the altitude-free hypothesis precision-guaranteed average positioning area of the aerial signals within a certain latitude range to be maximum on the basis of meeting the constraint condition of the ground surface signal precision-guaranteed average positioning area within the full latitude range.
An embodiment of the present invention will be described with reference to fig. 1.
Step 1: determining formation configuration size
According to the related knowledge, the larger the formation size is, the more favorable the realization of high-precision positioning performance is, but for narrow-beam target signals, when the formation size is too large, the situation that the signals cannot be captured by four stars simultaneously occurs, and four-star time-frequency difference positioning cannot be performed, so that the formation configuration size needs to be restricted to meet the common-view performance.
For a certain time, the configuration size of the formation of four stars can be represented by the minimum enveloping sphere diameter, and since the relative position relation of the four satellites is periodically changed and is generally the same as the orbit period, the maximum size of the formation configuration can be represented by the maximum value of the minimum enveloping sphere diameter in one orbit.
For a general signal positioning formation satellite task, there is a minimum beam width beta of a received target signalminWhen the formation configuration is designed, the constraint of the coverage range of the precision guarantee is provided based on the positioning performance, namely the requirement of positioning precision on a target signal in a certain detection range is required, the detection range can be represented by a circle with a satellite lower point as the center, and the detection diameter is RTThe maximum size of the formation configuration can be obtained according to the common view requirement of the target signal by combining the orbital height H of the satellite
Wherein the content of the first and second substances,
Lmaxrepresenting the maximum size of the formation configuration;
βminminimum beam width representing target signal
Step 2: determining configuration parameter relationship and selecting parameters to be optimized
In the formation configuration of the four stars, the configuration of the auxiliary star relative to the main star can use semimajor axis deviation delta a, in-plane configuration dimension P and relative eccentricity vector phase angle thetaFPlane external configuration size S and relative dip angle vector phase angle
The tangential fly-around center offset is expressed by l six configuration parameters. Wherein the two-star semimajor axis deviation Δ a is defined as follows, wherein the orbital radical of the main star is distinguished by subscript "0
Δa＝a-a0 (2)
The relative eccentricity vector and the relative inclination angle vector are defined as
Wherein the content of the first and second substances,
Δ e represents the relative eccentricity vector
e represents the eccentricity of the satellite
Omega represents the argument of the apogee of the secondary star
e0Indicating eccentricity of the main star
ω0Representing the argument of the perigee of the principal star
ΔexRepresenting the first component of the relative eccentricity vector
ΔeySecond component representing relative eccentricity vector
e denotes the modulus of the relative eccentricity vector
θFRepresenting relative eccentricity vector phase angle
Δ i represents a relative inclination vector
i denotes the orbital inclination of the satellite
i0Showing orbital inclination of the main star
Omega represents the ascension point of the parabasan
Ω0The right ascension point of the principal star
ΔixRepresenting the first component of the relative tilt vector
ΔiyRepresenting a second component of the relative tilt vector
iModulus representing relative dip angle vector
The in-plane topography dimension P and the out-of-plane topography dimension S are defined as
P＝a0·e (5)
S＝a0·i (6)
The tangential fly-around center offset l is defined as
l＝a0·[ω+M-(ω0+M0)+(Ω-Ω0)cosi0] (7)
Wherein the content of the first and second substances,
m represents the mean and near point angle of the secondary star
M0Mean angle of approach representing the dominant star
The subscripts "1", "2" and "3" are used to distinguish the configuration parameters of the three satellites. From the configuration parameters, each secondary star has 6 configuration parameters relative to the primary star, for the four-star positioning formation configuration, the number of formation configuration parameters to be determined is 18, and if the 18 parameters are directly optimized, the calculation amount is very large, and the number of parameters to be optimized needs to be reduced.
According to the orbit perturbation influence, in order to keep the relative stability of the four-star configuration, the orbit period and the orbit out-of-plane perturbation force are required to be the same, so the orbit semi-major axis and the orbit inclination angle of each star are required to be the same, and the delta a is defined by the former configuration parametersiIs equal to 0 and
or 270 °, where i ═ 1,2, 3.
Representing the relative dip angle vector phase angles of the satellites 1,2 and 3; Δ aiIndicating the semimajor axis deviation of the minor stars 1,2,3 from the major star.
According to the existing signal positioning knowledge, in order to make the four-star have a relatively ideal three-dimensional positioning capability for the aerial target signal in the low latitude region, the main star needs to be surrounded by three auxiliary stars, and the projection in the XOY plane of the main star orbit system shows the best three-dimensional positioning effect for the target signal in the space-time as shown in fig. 2. However, due to the influence of orbital dynamics, such ideal optimal configuration cannot be always maintained when three satellites fly around, so the following formation configuration scheme is considered: three secondary stars fly around the main star as the center, wherein two secondary stars have the same in-plane configuration size and out-plane configuration size, the relative eccentricity vector phase angles are opposite numbers, when the main star runs to a latitude argument of 0 degree or 180 degrees, the three secondary stars have the same height and enclose a regular triangle, as shown in fig. 3 and 4, wherein the auxiliary angle α is an included angle between the projection of the position vector of the main star pointing to the secondary star 1 in the orbit plane of the main star and the direction of the main star deviating from the geocentric direction.
For a regular triangle formed by three auxiliary stars, the radius of the circumscribed circle is S3When the height difference P between the main and auxiliary stars is3Less than S3Then, the minimum enveloping sphere diameter of the four stars at the latitude argument of 180 degrees is 2S3When α is larger than 45 °, the minimum envelope sphere diameter at the equator can be made the maximum of the full-orbit minimum envelope sphere diameter.
Therefore, according to the formation configuration scheme, the formation configuration parameters of the three satellites have the following relationship
Wherein the content of the first and second substances,
P1in-plane configuration size of secondary star 1
P2In-plane configuration size of secondary star 2
S1Showing the dimensions of the planar outer configuration of the satellite 1
S2The dimensions of the outside of the plane representing the minor star 2
S3The dimensions of the outside of the plane representing the satellite 3
l1Representing the tangential flying-around center offset of the satellite 1
l2Representing the tangential flying-around centre offset of the satellite 2
l3Representing the amount of tangential fly-around centre offset of satellite 3
It can be seen that when the configuration size and the auxiliary angle α are determined, all configuration parameters of the three secondary stars are determined, and therefore the only parameter to be optimized is the auxiliary angle α.
As seen from the configuration scheme, the auxiliary star 1, the auxiliary star 2 and the auxiliary starRelative eccentricity vector phase angle θ of star 3F1、θF2、θF3The phase difference is always present, so that even when the satellite runs to a high-altitude area, the four satellites are all positioned in the orbit plane of the main satellite, the collision risk does not exist. When the four satellites are not coplanar, the projections of the three auxiliary satellites in the XOY plane of the orbit system of the main satellite are always kept in a regular triangle as shown in the attached figure 2, and the main satellite is projected in the center of the triangle, so that the requirement of three-dimensional positioning of the aerial target signal is met.
And 3, step 3: determining performance indicator functions and constraints
The formation configuration size ensures that the configuration has certain common-view performance, and the formation satellite positioning performance constraint on the earth surface signals in the global latitude range is also considered when the configuration parameters are optimally designed.
The four-satellite formation configuration designed by the invention also needs to have the three-dimensional positioning capability for the air signal elevation-free hypothesis in the low latitude area on the basis of meeting the positioning performance, so that the average positioning area of the air signal elevation-free hypothesis in a certain latitude range is used as a performance index function in the optimization design.
And 4, step 4: optimizing the auxiliary angle alpha and obtaining formation configuration parameters
The configuration parameter optimization problem is simplified into a single-variable optimization problem of the auxiliary angle alpha, the auxiliary angle alpha is optimized by adopting a parameter optimization algorithm with nonlinear constraint, and the altitude-free assumed precision-guaranteed average positioning area of aerial signals in a certain latitude range is maximum on the basis of meeting the constraint condition of the ground surface signal precision-guaranteed average positioning area in the full latitude range.
For the optimized optimal auxiliary angle, 6 formation configuration parameters of the three satellites can be obtained by combining the formula (8).
The above description is that of the specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Preferred example 2:
a formation configuration design method suitable for high-precision three-dimensional positioning of aerial signals is characterized by comprising the following steps: the expected space configuration form of the four-satellite formation is considered for high-precision three-dimensional positioning of aerial signals without elevation hypothesis, a plurality of configuration parameter optimization problems are converted into single variable optimization problems, meanwhile, the collision risk of formation satellites is avoided, and the constraints of four-satellite positioning performance and common view performance are met. The method comprises the following steps:
step 1: determining formation configuration size
Step 2: determining configuration parameter relationship and selecting parameters to be optimized
And 3, step 3: determining performance indicator functions and constraints
And 4, step 4: and optimizing the auxiliary angle and obtaining formation configuration parameters.
The adopted formation configuration scheme is that three auxiliary stars fly around a main star as a center, wherein the two auxiliary stars have the same in-plane configuration size and out-plane configuration size, the relative eccentricity ratio vector phase angles of the two auxiliary stars are opposite numbers, and when the main star runs to a latitude argument of 0 degree or 180 degrees, the three auxiliary stars have the same height and form a regular triangle.
And calculating the size of the formation configuration according to the minimum beam width, the expected detection diameter and the satellite orbit height of the target signal by considering the requirement of simultaneously receiving the target signal by four stars.
And determining the relation between configuration parameters according to a formation configuration scheme without collision risk, and when the main satellite passes through a descending intersection point, taking the included angle between the projection of the position vector of the main satellite pointing to the auxiliary satellite 1 in the orbit plane of the main satellite and the direction of the main satellite deviating from the geocentric direction as an optimization parameter.
The method comprises the steps of selecting an aerial signal elevation-free hypothesis precision-preserving average positioning area in a certain latitude range as a performance index function, and selecting a surface signal precision-preserving average positioning area in a full latitude range as a constraint condition of positioning performance.
And optimizing the auxiliary angle by adopting a parameter optimization algorithm with nonlinear constraint, and enabling the altitude-free hypothesis precision-guaranteed average positioning area of the aerial signals within a certain latitude range to be maximum on the basis of meeting the constraint condition of the ground surface signal precision-guaranteed average positioning area within the full latitude range.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A formation configuration design method adapting to high-precision three-dimensional positioning of aerial signals is characterized by comprising the following steps:
the expected space configuration form of the four-satellite formation is considered for high-precision three-dimensional positioning without altitude hypothesis of aerial signals, a plurality of configuration parameter optimization problems are converted into single variable optimization problems, meanwhile, the collision risk of formation satellites is avoided, and the constraint of four-satellite positioning performance and common vision performance is met.
2. The method as claimed in claim 1, wherein the formation configuration design method for high-precision three-dimensional positioning of aerial signals is characterized in that the formation configuration form of the four-star formation is that three secondary stars fly around a main star as a center, wherein two secondary stars have the same in-plane configuration size and out-of-plane configuration size, the relative eccentricity vector phase angles of the two secondary stars are opposite numbers, and when the main star runs to a latitude argument of 0 ° or 180 °, the three secondary stars have the same height and form a regular triangle.
3. The method for designing formation configuration for high-precision three-dimensional positioning of aerial signals according to claim 2, comprising:
step S1: determining the formation configuration size;
step S2: determining a configuration parameter relationship and selecting a parameter to be optimized;
step S3: determining a performance index function and a constraint condition;
step S4: and optimizing the auxiliary angle and obtaining formation configuration parameters.
4. The method for designing formation configuration for high-precision three-dimensional positioning of aerial signals according to claim 3, wherein the step S1:
and calculating the size of the formation configuration according to the minimum beam width, the expected detection diameter and the satellite orbit height of the target signal by considering the requirement of simultaneously receiving the target signal by four stars.
5. The method for designing formation configuration for high-precision three-dimensional positioning of aerial signals according to claim 3, wherein the step S2:
and determining the relation between configuration parameters according to a formation configuration scheme without collision risk, and when the main satellite passes through a descending intersection point, taking the included angle between the projection of the position vector of the main satellite pointing to the auxiliary satellite 1 in the orbit plane of the main satellite and the direction of the main satellite deviating from the geocentric direction as an optimization parameter.
6. The method for designing formation configuration for high-precision three-dimensional positioning of aerial signals according to claim 3, wherein the step S3:
the method comprises the steps of selecting an aerial signal elevation-free hypothesis precision-preserving average positioning area in a certain latitude range as a performance index function, and selecting a surface signal precision-preserving average positioning area in a full latitude range as a constraint condition of positioning performance.
7. The method for designing formation configuration for high-precision three-dimensional positioning of aerial signals according to claim 3, wherein the step S4:
and optimizing the auxiliary angle by adopting a parameter optimization algorithm with nonlinear constraint, and enabling the altitude-free hypothesis precision-guaranteed average positioning area of the aerial signals within a certain latitude range to be maximum on the basis of meeting the constraint condition of the ground surface signal precision-guaranteed average positioning area within the full latitude range.
8. A formation configuration design system for high-precision three-dimensional positioning of aerial signals, comprising:
the expected space configuration form of the four-satellite formation is considered for high-precision three-dimensional positioning of aerial signals without elevation hypothesis, a plurality of configuration parameter optimization problems are converted into single variable optimization problems, meanwhile, the collision risk of formation satellites is avoided, and the constraint of four-satellite positioning performance and common vision performance is met;
the four-star formation space configuration form is that three auxiliary stars fly around the main star as the center, wherein the two auxiliary stars have the same in-plane configuration size and out-plane configuration size, the relative eccentricity ratio vector phase angles of the two auxiliary stars are opposite numbers, and when the main star runs to a latitude argument of 0 degree or 180 degrees, the three auxiliary stars have the same height and form a regular triangle.
9. The formation configuration design system for high-precision three-dimensional positioning of aerial signals according to claim 8, comprising:
module S1: determining the formation configuration size;
module S2: determining a configuration parameter relationship and selecting a parameter to be optimized;
module S3: determining a performance index function and a constraint condition;
module S4: and optimizing the auxiliary angle and obtaining formation configuration parameters.
10. The formation configuration design system for accommodating high-precision three-dimensional positioning of aerial signals according to claim 9, wherein the module S1:
considering the requirement that four stars receive target signals simultaneously, calculating to obtain the size of a formation configuration according to the minimum beam width, the expected detection diameter and the satellite orbit height of the target signals;
the module S2:
determining the relation between configuration parameters according to a formation configuration scheme without collision risk, and selecting an included angle between the projection of a position vector of a main satellite pointing to a secondary satellite 1 in the orbit plane of the main satellite and the direction of the main satellite deviating from the geocentric direction as an optimization parameter when the main satellite passes through a descending intersection point;
the module S3:
selecting the aerial signal elevation-free hypothesis precision-preserving average positioning area in a certain latitude range as a performance index function, and selecting the earth surface signal precision-preserving average positioning area in a full latitude range as a constraint condition of positioning performance;
the module S4:
and optimizing the auxiliary angle by adopting a parameter optimization algorithm with nonlinear constraint, and enabling the altitude-free hypothesis precision-guaranteed average positioning area of the aerial signals within a certain latitude range to be maximum on the basis of meeting the constraint condition of the ground surface signal precision-guaranteed average positioning area within the full latitude range.
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