CN112147574B - Multi-station positioning algorithm verification method and simulation system - Google Patents
Multi-station positioning algorithm verification method and simulation system Download PDFInfo
- Publication number
- CN112147574B CN112147574B CN202011025878.2A CN202011025878A CN112147574B CN 112147574 B CN112147574 B CN 112147574B CN 202011025878 A CN202011025878 A CN 202011025878A CN 112147574 B CN112147574 B CN 112147574B
- Authority
- CN
- China
- Prior art keywords
- target
- station
- target track
- scene
- track points
- 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
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
Abstract
The invention relates to a multi-station positioning algorithm verification method and a simulation system, wherein the method comprises the following steps: setting scenes through a system interface, and setting the number of stations, the distribution of the stations, the number of targets and target tracks; calculating target track points according to the set target quantity and target track, and storing the target track points in groups according to the recorded initial time scale; calculating to obtain the time marks of each target track point received by each station according to the position coordinates of the grouped target track points, the distribution coordinates of the stations and the initial time marks of the target track points; sequencing the grouped target track points in an ascending group according to the time scales of the target track points received by each station; and (4) carrying out scene display on the time marks of the target track points received by each station and the grouped target track points sequenced in the ascending sequence group, packaging and sending the scene display as verification data to software to be verified, and carrying out multi-station positioning algorithm verification. The invention solves the problem that the accuracy cannot be ensured in the multi-station positioning algorithm verification of the current physical construction.
Description
Technical Field
The invention relates to the technical field of information positioning, in particular to a multi-station positioning algorithm verification method and a simulation system.
Background
At present, multi-station positioning mainly comprises multi-station cross positioning and multi-station time difference positioning, wherein the multi-station cross positioning is a method for obtaining target distance information by resolving through multi-station angle information, three-dimensional positioning of a target can be generally completed through double stations, the multi-station time difference positioning is also called hyperbolic positioning, the multi-station time difference positioning is a relatively accurate positioning method, a pair of hyperboloids with two stations as focuses is determined by time difference of radiation signals of the target reaching the two stations, three pairs of hyperboloids are generated by four passive stations for three-dimensional positioning, lines and points are intersected on a surface, so that positioning is achieved, and the positioning method is particularly sensitive to time accuracy and quite high in requirements.
The multi-station positioning algorithm is more and more mature, aiming at algorithm verification, the verification is mainly carried out under specific conditions by a limited number of physical construction methods at present, but the multi-station positioning algorithm is verified by utilizing the physical construction method, and most of the multi-station positioning algorithm can only be verified by aiming at one algorithm of cross positioning and time difference positioning. The number of stations and the number of targets are small, the distribution of the stations is difficult to change randomly, and the target motion track is difficult to set randomly. Under specific conditions, the multi-station positioning algorithm is inherently correct, but with the increase of variable factors, whether the multi-station positioning algorithm can still maintain robustness or not is further verified. For example, as the number of stations increases, the algorithm can find the optimal station distribution to calculate the optimal solution. With the increase of targets, the algorithm can judge whether the signals received by each station are the same batch of signals sent by the same target at the same position, and the problems need further verification so as to ensure the accuracy of the multi-station positioning algorithm.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a multi-station positioning algorithm verification method and a simulation system, so as to solve the problem that the accuracy cannot be guaranteed when the multi-station positioning algorithm verification is performed under specific conditions by a physical construction at present.
The purpose of the invention is mainly realized by the following technical scheme:
in one aspect, the invention provides a multi-station positioning algorithm verification method, which comprises the following steps:
setting scenes through a system interface, wherein the scene setting comprises setting the number of stations, the distribution of the stations, the number of targets and the target track;
calculating target track points according to the set target quantity and target track, and storing the target track points in groups according to the recorded initial time scale;
calculating to obtain the time marks of each target track point received by each station according to the position coordinates of the grouped target track points, the distribution coordinates of the stations and the initial time marks of the target track points;
sequencing the grouped target track points in an ascending group according to the time scales of the target track points received by each station;
and (3) carrying out scene display on the time marks of the target track points received by each station and the grouped target track points sequenced in the ascending sequence group, and meanwhile, packaging and sending the time marks and the grouped target track points as verification data to software to be verified to carry out multi-station positioning algorithm verification.
Further, the time scale of each station for receiving each target track point is obtained by calculation according to the position coordinates of the grouped target track points, the distribution coordinates of the stations and the initial time scale of the target track points, and the formula is as follows:
where t0 is the initial time scale, (x, y, z) is the three-dimensional position coordinates of the grouped target track points, and (x0, y0, z0) is the three-dimensional distribution coordinates of the station.
Further, the setting of the scene further comprises the effective length range of the target signal received by the setting station, the target track point sending period and the motion rate of each target;
when the distance between a target track point and a station exceeds the effective length range of the target signal received by the station, the target track point is invalid, and the invalid target track point is deleted from a container stored in groups;
and sending each grouping target track point to a scene for display according to the set target track point sending period, wherein the method comprises the following steps: and after the grouped target track points are sorted in an ascending group, a group of signals are sent in each period from the low group sorting according to the set signal sending period.
Furthermore, the software to be verified is a multi-station cross positioning algorithm or a multi-station time difference positioning algorithm, and the packaged verification data is received according to the protocol composition read by the XML;
the file field of the protocol read by the XML comprises a message header, a message length, a target address, a target azimuth, a target longitude, a target latitude, a target altitude, a target accurate arrival time scale, a signal source station number, a signal source station longitude, a signal source station latitude and a signal source station altitude.
The scene display further comprises the step of carrying out scene visual display on the target running track and the processing of the signal data content.
On the other hand, a simulation system based on the verification method is disclosed, and comprises a scene unit and a central processing unit; the scene unit comprises a scene setting module and a scene display module, and the central processing unit comprises a data processing module and a communication processing module;
the scene setting module is used for setting the number of stations, the distribution of the stations, the number of targets and the target track through a system interface;
the data processing module is used for analyzing and calculating azimuth information of each target relative to each station at each moment and time information of each target reaching each station at the same moment according to the data set by the scene setting module to obtain target track points, grouping and storing the target track points according to the recorded initial time scale, and sequencing each grouped target track point in an ascending group according to the time information of each target track point;
the communication processing module is used for sending the azimuth information of each target relative to each station at each moment, the time information of the arrival of the signals sent by each target at the same moment and the data which are sequenced and packed in the ascending group of the track points of each grouped target, which are analyzed and calculated by the data processing module, to the scene display module and the software to be verified;
and the scene display module is used for visually displaying the scene based on the azimuth information of each target relative to each station at each moment and the time information of the signal sent by each target at the same moment reaching each station.
Further, the calculation formula of the time information of the arrival of the signals sent by the targets at the same time at the stations is as follows:
wherein t0 is an initial time scale, (x, y, z) is the three-dimensional position coordinates of the target track point, and (x0, y0, z0) is the three-dimensional distribution coordinates of the station.
Furthermore, the scene setting module is further used for setting an effective length range of a station receiving target signals, a target track point sending period and a motion rate of each target;
when the distance between a target track point and a station exceeds the effective length range of the target signal received by the station, the target track point is invalid, and the invalid target track point is deleted from a container stored in groups;
the communication processing module sends each grouping target track point to the scene display module according to the set target track point sending period, and the method comprises the following steps: after sequencing the grouped target track points in an ascending group, according to a set signal sending period, starting to send a group of signals in each period from the low group sequencing;
the scene display module is used for further visually displaying a scene for processing the target running track and the signal data content of the central processing unit.
Furthermore, the software to be verified is multi-station positioning algorithm software, and receives packed data according to the protocol composition read by the XML, wherein the packed data comprises a multi-station cross positioning algorithm and a multi-station time difference positioning algorithm.
Further, the file field of the protocol read by the XML includes a packet header, a packet length, a target address, a target azimuth, a target longitude, a target latitude, a target altitude, a target accurate arrival time scale, a signal source station number, a signal source station longitude, a signal source station latitude, and a signal source station altitude.
The technical scheme has the beneficial effects that: the invention discloses a multi-station positioning algorithm verification method and a simulation system, compared with the complex operation of a real object verification multi-station positioning algorithm, the software simulation verification of the invention has the advantages of simple use, less required accessories and strong operability; the software simulation system is formed by adopting an XML configuration file reading protocol and has strong expansibility. The technical scheme of the invention solves the problem that the accuracy cannot be ensured when the multi-station positioning algorithm verification is carried out under specific conditions by the existing physical construction.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a flow chart of a multi-station positioning algorithm verification method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of grouping target trace points according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a multi-station positioning algorithm verification process according to an embodiment of the present invention;
FIG. 4 is a block diagram of a simulation system according to an embodiment of the present invention;
fig. 5 is a block diagram illustrating the operation principle of the simulation system according to the embodiment of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
The technical idea of the invention is as follows: the invention provides a multi-station positioning algorithm verification method and a software simulation system. Aiming at the defects that a method for establishing and verifying a multi-station positioning algorithm is complex, conditions are fixed, variable quantity is less and a verification algorithm is single in a real object, the simulation system provided by the embodiment of the invention can support the number of stations to be randomly set within a range of 16, targets can be randomly set within 200, the distribution of the stations can be arranged independently, target tracks can be deployed randomly, and variable conditions are increased. The system simulates the receiving of multi-station signals, simulates and calculates the direction and time information of the signals received by each station, and sends the information to multi-station positioning algorithm software, so that the accuracy and robustness of a cross positioning algorithm and a time difference positioning algorithm can be verified at the same time.
One embodiment of the present invention, as shown in fig. 1, discloses a multi-station positioning algorithm verification method, comprising the following steps:
s1, setting scenes through a system interface, wherein the scene settings comprise the number of setting stations, the distribution of the stations, the number of targets and target tracks;
s2, calculating target track points according to the set target quantity and target track, and storing the target track points in groups according to the recorded initial time scale;
s3, calculating to obtain the time mark of each target track point received by each station according to the position coordinates of the grouped target track points, the distribution coordinates of the stations and the initial time marks of the target track points;
s4, sorting the grouped target track points in an ascending group according to the time scales of the target track points received by each station;
and S5, displaying scenes of the time marks of the target track points received by each station and the grouped target track points sequenced in the ascending sequence group, packaging and sending the scene as verification data to software to be verified, and performing multi-station positioning algorithm verification.
Compared with the prior art, the method adopts software simulation to verify the multi-station positioning algorithm, replaces physical verification, has variable number of stations and variable target number tracks, can effectively verify the sensitivity of the multi-station positioning algorithm to various variable factors, and has strong operability.
According to a specific embodiment of the present invention, the time scale of each station receiving each target track point is obtained by calculation according to the position coordinates of the grouped target track points, the distribution coordinates of the stations, and the initial time scale of the target track points, and the formula is as follows:
where t0 is the initial time scale, (x, y, z) is the three-dimensional position coordinates of the grouped target track points, and (x0, y0, z0) is the three-dimensional distribution coordinates of the station.
Specifically, the precise time scale t of the track point information received by each station can be precisely calculated according to the initial time scale t0, the coordinates of the track point (x, y, z) and the detection station (x0, y0, z 0).
In a specific embodiment of the present invention, the setting of the scene further includes setting an effective length range of a target signal received by the station, a target track point transmission period, and a motion rate of each target;
when the distance between a target track point and a station exceeds the effective length range of the target signal received by the station, the target track point is invalid, and the invalid target track point is deleted from a container stored in groups;
specifically, when the distance between the track point and the probing station is greater than 400km, the track point is invalid and the storage container deletes the track point.
And sending each grouping target track point to a scene for display according to the set target track point sending period, wherein the method comprises the following steps: and after the grouped target track points are sorted in an ascending group, a group of signals are sent in each period from the low group sorting according to the set signal sending period.
Specifically, the target trace point groups are as shown in fig. 2, each target can be divided into a plurality of trace points according to its own motion trace length, motion rate, direction, and signal transmission period, and distances between trace points are different due to different motion rates. The tracks of each target are grouped according to the sequence number, for example, the 0 point of the track 1, the 0 point of the track 2 and the 0 point of the track 3 are also 0 group. The initial time scale of each group is the same, the time scale of 0 group is 0, the time scale of 1 group is 0+ sending period, and so on. Since the minimum transmission period is 10ms, the maximum propagation distance within 1ms is 3 x 10^6, namely 3000km, and the detectable range of the target does not exceed 400km with the propagation speed of the electromagnetic wave being 3 x 10^8, when the 1 st group of signals are transmitted, the 0 th group of signals reach each detection station, namely, each station can be understood to always receive the 0 th group of signals first and then the 1 st group of signals, and the like. In order to guarantee the authenticity of simulation, each group of signals can be sequenced according to a precise time scale so as to ensure the time receiving sequence, and according to the set signal sending period, one group of signals is sent in each period, starting from 0 group, and so on.
According to a specific embodiment of the invention, the software to be verified is a multi-station cross positioning algorithm or a multi-station time difference positioning algorithm, and the packaged verification data is received according to a protocol composition read by XML;
the file field of the protocol read by the XML comprises a message header, a message length, a target address, a target azimuth, a target longitude, a target latitude, a target altitude, a target accurate arrival time scale, a signal source station number, a signal source station longitude, a signal source station latitude and a signal source station altitude.
The scene display further comprises the step of carrying out scene visual display on the target running track and the processing of the signal data content.
As shown in fig. 3, the multi-station positioning algorithm verification of the embodiment of the present invention has the following work flow:
1) setting a scene: number and location deployment of stations
The positions of the stations are deployed by performing mouse clicking operation on a system interface map;
2) setting a scene: target number and trajectory settings
Setting target motion tracks and quantity by performing mouse clicking operation on a system interface map;
3) setting a scene: reception information valid range setting
The input station receives the effective length range of the target signal;
4) setting a scene: target trajectory point period setting
Inputting a uniform signal sending period of a target signal, wherein the maximum unit is 1s and the minimum unit is 10 ms;
5) setting a scene: target trajectory point motion rate setting
Inputting the motion rate of each target, wherein the motion rates can be independently set or uniformly set;
6) data processing: target track point calculation and grouping storage
Calculating all track points in each target track and the corresponding direction of each track point relative to each station according to the target track point period and the target flight speed, recording an initial time scale for each point, and storing the track points in groups according to the initial time scale;
7) data processing: calculating the accurate time scale of the arrival station of the target track point signal;
calculating the accurate time scale of each track point received by each station according to the position coordinates of each grouping track point, the position coordinates of the station, the propagation speed of the electromagnetic wave and the initial time scale of the track point, and deleting the invalid track point in the container;
8) data processing: the grouping track points are sorted according to time
Arranging the grouped track points in an ascending order group according to the accurate time scale of the track points;
9) communication processing: data transmission to a scene display unit
Sending each group of track point data to a scene display unit according to the sending period set by 4), and sending a group of signals in each period;
10) communication processing: reading XML document protocol components
The XML file field comprises a message header, a message length, a target address (a target unique identification number), a target azimuth, a target longitude, a target latitude, a target altitude, a target accurate arrival time mark, a signal source station number, a signal source station longitude, a signal source station latitude and a signal source station altitude; specific values, such as 8E8E and 0D0A, need to be configured for the header and the length of the packet, and the number of bytes specifically needed for other fields, such as: if the orientation is two bytes, the orientation is configured to be 2, and if the decimal occupies 1 byte, the orientation is configured to be 2.1;
11) communication processing: data are packed and sent to software to be verified
According to the protocol composition read by the XML, packing and sending the data to the software to be verified according to the protocol; 12) and (3) scene display: list display and situation display
And according to the track point information data transmitted by the communication processing, data contents are tabulated and displayed, and the motion track of each target is displayed in a situation.
One embodiment of the present invention, as shown in fig. 4, discloses a simulation system for implementing the above verification method, which includes a scene unit and a central processing unit; the scene unit comprises a scene setting module and a scene display module, and the central processing unit comprises a data processing module and a communication processing module;
the scene setting module is used for setting the number of stations, the distribution of the stations, the number of targets and the target track points through a system interface;
the data processing module is used for analyzing and calculating azimuth information of each target relative to each station at each moment and time information of each target reaching each station at the same moment according to the data set by the scene setting module to obtain target track points, grouping and storing the target track points according to the recorded initial time scale, and sequencing each grouped target track point in an ascending group according to the time information of each target track point;
the communication processing module is used for sending the azimuth information of each target relative to each station at each moment, the time information of the arrival of the signals sent by each target at the same moment and the data which are sequenced and packed in the ascending group of the track points of each grouped target, which are analyzed and calculated by the data processing module, to the scene display module and the software to be verified;
and the scene display module is used for visually displaying the scene based on the azimuth information of each target relative to each station at each moment and the time information of the signal sent by each target at the same moment reaching each station.
Specifically, as shown in fig. 5, the scene setting module mainly sets the number of stations, the distribution of the stations, the number of targets, and the target trajectory; the scene display module is mainly responsible for visually displaying scenes, and the scene display module can clearly see the target running track of the central processing unit, the content of the produced signal data and the like. The data processing module is mainly responsible for analyzing and calculating the data provided by the scene setting module, and calculating the azimuth information of each target relative to each station at each moment and the accurate arrival time of the signal sent by each target at the same moment to each station; the communication processing module is responsible for sending the target track data and signal data content of the data processing module to the scene display module, and when the multi-station positioning algorithm software is accessed into the simulation system, the communication processing module reads the protocol composition content according to the set XML configuration file, assembles and packages the azimuth and time information obtained by the data processing module, and sends the information to the multi-station positioning algorithm software (the software containing a multi-station cross positioning algorithm or a multi-station time difference positioning algorithm) so as to verify the algorithm accuracy.
In an embodiment of the present invention, the calculation formula of the time information of arrival at each station of the signals sent by each target at the same time is as follows:
wherein t0 is an initial time scale, (x, y, z) is the three-dimensional position coordinates of the target track point, and (x0, y0, z0) is the three-dimensional distribution coordinates of the station.
Specifically, the precise time scale t of the track point information received by each station can be precisely calculated according to the initial time scale t0, the coordinates of the track point (x, y, z) and the detection station (x0, y0, z 0).
In a specific embodiment of the present invention, the scene setting module is further configured to set an effective length range of a target signal received by the station, a target trace point transmission period, and a motion rate of each target;
when the distance between a target track point and a station exceeds the effective length range of the target signal received by the station, the target track point is invalid, and the invalid target track point is deleted from a container stored in groups;
the communication processing module sends each grouping target track point to the scene display module according to the set target track point sending period, and the method comprises the following steps: after sequencing the grouped target track points in an ascending group, according to a set signal sending period, starting to send a group of signals in each period from the low group sequencing;
the scene display module is used for further visually displaying a scene for processing the target running track and the signal data content of the central processing unit.
In a specific embodiment of the present invention, the software to be verified is a multi-station positioning algorithm software, and the receiving packed data is composed according to a protocol read by XML, and includes a multi-station cross positioning algorithm and a multi-station time difference positioning algorithm.
In a specific embodiment of the present invention, the file field of the protocol read by the XML includes a header, a length of the packet, a destination address, a destination azimuth, a destination longitude, a destination latitude, a destination altitude, a destination accurate arrival time scale, a signal source station number, a signal source station longitude, a signal source station latitude, and a signal source station altitude.
In summary, the invention discloses a multi-station positioning algorithm verification method, which comprises the following steps: setting scenes through a system interface, wherein the scene settings comprise the number of setting stations, the distribution of the stations, the number of targets and scene settings including target track points; calculating target track points according to the set target quantity and target track, and storing the target track points in groups according to the recorded initial time scale; calculating to obtain the time marks of each target track point received by each station according to the position coordinates of the grouping track points, the distribution coordinates of the stations and the initial time marks of the target track points; sequencing each grouping track point in an ascending sequence group according to the time scale of each station for receiving each target track point; and (3) carrying out scene display on the time marks of the target track points received by each station and the grouped target track points sequenced in the ascending sequence group, and meanwhile, packaging and sending the time marks and the grouped target track points as verification data to software to be verified to carry out multi-station positioning algorithm verification. The number of stations is variable in deployment and the target number track is variable in the technical scheme of the invention, so that the sensitivity of a multi-station positioning algorithm to various variable factors can be effectively verified; the software simulation verification is simple to use, the number of required accessories is small, and the operability is high; the software simulation system is formed by adopting an XML configuration file reading protocol and has strong expansibility.
Those skilled in the art will appreciate that all or part of the processes for implementing the methods in the above embodiments may be implemented by a computer program, which is stored in a computer-readable storage medium, to instruct associated hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A multi-station positioning algorithm verification method is characterized by comprising the following steps:
setting scenes through a system interface, wherein the scene setting comprises setting the number of stations, the distribution of the stations, the number of targets and the target track;
calculating target track points according to the set target quantity and target track, and storing the target track points in groups according to the recorded initial time scale; each target track is grouped according to the serial number, and the 0 point of the track 1, the 0 point of the track 2 and the 0 point of the track 3 are also 0 groups; the initial time scales of each group are the same, the time scale of 0 group is 0, the time scale of 1 group is 0+ sending period, and so on;
calculating to obtain the time marks of each target track point received by each station according to the position coordinates of the grouped target track points, the distribution coordinates of the stations and the initial time marks of the target track points;
sequencing the grouped target track points in an ascending group according to the time scales of the target track points received by each station;
and (3) carrying out scene display on the time marks of the target track points received by each station and the grouped target track points sequenced in the ascending sequence group, and meanwhile, packaging and sending the time marks and the grouped target track points as verification data to software to be verified to carry out multi-station positioning algorithm verification.
2. The method according to claim 1, characterized in that the time scale for each station to receive each target track point is calculated according to the position coordinates of the grouped target track points, the distribution coordinates of the stations, and the initial time scale of the target track points, and the formula is as follows:
where t0 is the initial time scale, (x, y, z) is the three-dimensional position coordinates of the grouped target track points, and (x0, y0, z0) is the three-dimensional distribution coordinates of the station.
3. The method of claim 1, wherein the setting of the scene further comprises setting an effective length range of target signals received by the station, a target track point transmission period and a motion rate of each target;
when the distance between a target track point and a station exceeds the effective length range of the target signal received by the station, the target track point is invalid, and the invalid target track point is deleted from a container stored in groups;
and sending each grouping target track point to a scene for display according to the set target track point sending period, wherein the method comprises the following steps: and after the grouped target track points are sorted in an ascending group, a group of signals are sent in each period from the low group sorting according to the set signal sending period.
4. The method according to claim 1, wherein the software to be verified is a multi-station cross-location algorithm or a multi-station time difference location algorithm, and the packaged verification data is received according to a protocol composition read by XML;
the file field of the protocol read by the XML comprises a message header, a message length, a target address, a target azimuth, a target longitude, a target latitude, a target altitude, a target accurate arrival time scale, a signal source station number, a signal source station longitude, a signal source station latitude and a signal source station altitude.
5. The method of claim 1, wherein the scene display further comprises scene visualization of the target trajectory and the processing of the signal data content.
6. A simulation system for implementing the authentication method of claim 1, comprising a scene unit and a central processing unit; the scene unit comprises a scene setting module and a scene display module, and the central processing unit comprises a data processing module and a communication processing module;
the scene setting module is used for setting the number of stations, the distribution of the stations, the number of targets and the target track through a system interface;
the data processing module is used for analyzing and calculating azimuth information of each target relative to each station at each moment and time information of each target reaching each station at the same moment according to the data set by the scene setting module to obtain target track points, grouping and storing the target track points according to the recorded initial time scale, and sequencing each grouped target track point in an ascending group according to the time information of each target track point; each target track is grouped according to the serial number, and the 0 point of the track 1, the 0 point of the track 2 and the 0 point of the track 3 are also 0 groups; the initial time scales of each group are the same, the time scale of 0 group is 0, the time scale of 1 group is 0+ sending period, and so on;
the communication processing module is used for sending the azimuth information of each target relative to each station at each moment, the time information of the arrival of the signals sent by each target at the same moment and the data which are sequenced and packed in the ascending group of the track points of each grouped target, which are analyzed and calculated by the data processing module, to the scene display module and the software to be verified;
and the scene display module is used for visually displaying the scene based on the azimuth information of each target relative to each station at each moment and the time information of the signal sent by each target at the same moment reaching each station.
7. The simulation system of claim 6, wherein the time information of arrival at each station of the signals transmitted from each target at the same time is calculated by the following formula:
wherein t0 is an initial time scale, (x, y, z) is the three-dimensional position coordinates of the target track point, and (x0, y0, z0) is the three-dimensional distribution coordinates of the station.
8. The simulation system of claim 6, wherein the scene setting module is further configured to set an effective length range of a target signal received by the station, a target trace point transmission period, and a motion rate of each target;
when the distance between a target track point and a station exceeds the effective length range of the target signal received by the station, the target track point is invalid, and the invalid target track point is deleted from a container stored in groups;
the communication processing module sends each grouping target track point to the scene display module according to the set target track point sending period, and the method comprises the following steps: after sequencing the grouped target track points in an ascending group, according to a set signal sending period, starting to send a group of signals in each period from the low group sequencing;
the scene display module is used for further visually displaying a scene for processing the target running track and the signal data content of the central processing unit.
9. The simulation system of claim 6, wherein the software to be verified is a multi-station positioning algorithm software, and the received packed data is composed according to a protocol read by XML, and comprises a multi-station cross positioning algorithm and a multi-station time difference positioning algorithm.
10. The modeling system of claim 9, wherein the file field of the XML read protocol contains a header, a length of the packet, a destination address, a destination bearing, a destination longitude, a destination latitude, a destination altitude, a destination accurate arrival time stamp, a signal source station number, a signal source station longitude, a signal source station latitude, and a signal source station altitude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011025878.2A CN112147574B (en) | 2020-09-25 | 2020-09-25 | Multi-station positioning algorithm verification method and simulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011025878.2A CN112147574B (en) | 2020-09-25 | 2020-09-25 | Multi-station positioning algorithm verification method and simulation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112147574A CN112147574A (en) | 2020-12-29 |
| CN112147574B true CN112147574B (en) | 2022-02-01 |
Family
ID=73897329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011025878.2A Active CN112147574B (en) | 2020-09-25 | 2020-09-25 | Multi-station positioning algorithm verification method and simulation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112147574B (en) |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7570214B2 (en) * | 1999-03-05 | 2009-08-04 | Era Systems, Inc. | Method and apparatus for ADS-B validation, active and passive multilateration, and elliptical surviellance |
| US7132982B2 (en) * | 1999-03-05 | 2006-11-07 | Rannock Corporation | Method and apparatus for accurate aircraft and vehicle tracking |
| US7961717B2 (en) * | 2005-05-12 | 2011-06-14 | Iposi, Inc. | System and methods for IP and VoIP device location determination |
| CN101308206B (en) * | 2008-07-11 | 2011-05-04 | 北京航空航天大学 | Circumferential track mobile target tracking method under white noise background |
| CN101534470B (en) * | 2009-04-10 | 2011-12-28 | 华南理工大学 | System and method for tracking moving target based on wireless sensor network |
| CN104316903B (en) * | 2014-08-01 | 2018-03-09 | 中国人民解放军63891部队 | A kind of three station positioning using TDOA performance test appraisal procedures |
| CN104833953B (en) * | 2015-05-11 | 2017-09-29 | 中国民用航空总局第二研究所 | Multipoint positioning monitoring system and method under a kind of airport non line of sight channel circumstance |
| CN106501767A (en) * | 2016-10-13 | 2017-03-15 | 哈尔滨工程大学 | A kind of motion multistation passive TDOA location method |
| CN109901107A (en) * | 2019-03-07 | 2019-06-18 | 西安电子科技大学 | A kind of time difference positioning method, device, computer equipment and readable storage medium storing program for executing |
| CN110764050A (en) * | 2019-11-07 | 2020-02-07 | 南京莱斯电子设备有限公司 | Simulation test method for multipoint positioning system |
| CN111273266A (en) * | 2020-01-20 | 2020-06-12 | 盐城黎曼信息科技有限公司 | Multi-station radar positioning system |
-
2020
- 2020-09-25 CN CN202011025878.2A patent/CN112147574B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112147574A (en) | 2020-12-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102128626B (en) | Track display method and system and map server | |
| CN109358526B (en) | Software in-loop testing method of automatic driving tracking algorithm based on simulation | |
| US20210223408A1 (en) | Point cloud data acquisition method and device under situation of no gnss signal | |
| CN103686995B (en) | Non-line-of-sight environment positioning method and device | |
| CN108235736A (en) | Positioning method, cloud server, terminal, system, electronic device and computer program product | |
| CN109883448A (en) | Map box test method and system | |
| CN110774319B (en) | Robot and positioning method and device thereof | |
| CN107277772A (en) | A kind of wireless access independent positioning method and device, computer-readable recording medium | |
| CN105004353A (en) | Dynamic star map simulation method for star sensor | |
| CN101349718A (en) | Method, system and apparatus for generating electromagnetic field three-dimensional model | |
| CN115616937B (en) | Automatic driving simulation test method, device, equipment and computer readable medium | |
| CN109215338A (en) | A kind of Beidou gps track of vehicle management system and its method based on gridding | |
| CN110208782A (en) | A kind of radar fix method, apparatus, system, computer equipment and storage medium | |
| CN109711503A (en) | A kind of robot localization method and device | |
| CN110162089A (en) | A kind of unpiloted emulation mode and device | |
| CN107272017A (en) | Multilasered optical radar system and its control method | |
| CN107832386A (en) | A kind of error correction method and apparatus of electronic map | |
| CN110515110B (en) | Method, device, equipment and computer readable storage medium for data evaluation | |
| CN112147574B (en) | Multi-station positioning algorithm verification method and simulation system | |
| CN108924925A (en) | A kind of construction personnel's localization method and its positioning system | |
| CN114360240B (en) | High-precision positioning method based on Internet of vehicles track characteristics | |
| CN111189426A (en) | Intelligent pipeline deformation detection system of IMU (inertial measurement unit) | |
| CN110082697A (en) | A kind of method and apparatus for demarcating lightning location system performance parameter | |
| CN113391267A (en) | Frequency spectrum detection system positioning method based on ATDOA algorithm | |
| CN115018022B (en) | Quality control method, device, equipment and medium for gridding environment monitoring data |
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 | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Duan Guping Inventor after: Fan Zhengxue Inventor after: Wang Xiaolin Inventor after: Wu Xi Inventor before: Duan Guping Inventor before: Fan Zhengxue Inventor before: Wu Xi |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |