CN113701751A - Navigation device based on multi-beam antenna - Google Patents
Navigation device based on multi-beam antenna Download PDFInfo
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- CN113701751A CN113701751A CN202110976934.9A CN202110976934A CN113701751A CN 113701751 A CN113701751 A CN 113701751A CN 202110976934 A CN202110976934 A CN 202110976934A CN 113701751 A CN113701751 A CN 113701751A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/005—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using remotely controlled antenna positioning or scanning
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
Abstract
A multi-beam antenna based navigation device includes a plurality of receive antennas or phased array multi-beam antennas, an inertial measurement component or inertial navigation system, a beam control module, a doppler shift tracking module (optional), and a navigation computation module. The inertial measurement component or the inertial navigation module and the beam control module are used for realizing that a plurality of antenna beams are aligned to a plurality of satellites, and a plurality of accurate pointing information of a carrier relative to the satellites can be obtained; after each antenna beam receives a carrier or beacon signal of a satellite, a Doppler frequency shift module is used for detecting Doppler frequency information in a corresponding satellite beacon or carrier signal; and positioning and navigation of the carrier are realized by utilizing output information of the inertial measurement component or the inertial navigation system, pointing information of the antenna to the satellite and Doppler frequency information. The invention adopts the antenna to passively receive the carrier wave or beacon signal of the satellite to realize positioning and navigation, has the characteristics of autonomy, passivity, interference resistance and the like, and provides a novel navigation device for a motion carrier.
Description
Technical Field
The invention belongs to the technical field of motion platform navigation, and particularly relates to a navigation device based on a multi-beam antenna.
Background
At present, inertia, satellites and various combined navigation technologies are generally adopted by motion carriers such as vehicles, ships, airplanes and missiles. However, navigation positioning systems such as GPS/BD are very susceptible to interference and fraud due to the fact that navigation terminals generally employ omni-directional antennas (although various anti-interference antennas are available and applied). In complex and antagonistic environments, each moving carrier cannot rely solely on satellite navigation as a means. The inertial navigation mode can realize autonomous navigation, but errors of the inertial navigation mode can be accumulated along with time, and the accuracy of the inertial navigation mode cannot meet the requirement for long-time and high-accuracy navigation. The current unmanned system is developed rapidly, the intelligent degree is higher and higher, and the requirement on high-precision anti-interference navigation is very urgent.
The GNSS global satellite navigation system can provide accurate navigation, positioning and time service all weather, all regions and all time, is widely applied to various fields of military and civilian, and continuously improves the dependence degree on satellite navigation. However, the GNSS satellite navigation system has two obvious disadvantages, one is strong dependence on navigation satellites; secondly, the ground navigation signal is a spread spectrum communication system, and the signal is weak and is easy to be interfered. Although various immunity techniques have been developed, the cost of strong jamming or spoofing is still very low.
The applicant proposes in a patent (202110845079.8, application date: 2021-07-26) a method and a device for navigating a moving carrier based on a directional antenna and doppler information, and the following steps are adopted to implement the navigation of the moving carrier based on the directional antenna and doppler information:
s1: the precise initial position of the moving carrier, which carries the directional antenna, and the fixed or moving beacon position information are known. When there are multiple fixed or mobile beacons, one of them can be selected according to the use environment and other limitations, and switched during operation according to the strategy, or multiple beacons can be selected, and multiple directional antennas can be selected for use.
S2: the antenna beam control system based on the directional antenna utilizes IMU or INS assistance to keep the directional antenna always aligned with the beacon in the motion process of the motion carrier, and outputs the attitude angle of the motion carrier and the attitude angle deviation of the motion carrier during alignment. The method specifically comprises the following steps:
s2.1: in the moving process of the moving carrier, with the assistance of an IMU or an INS, obtaining the moving information of the moving carrier, namely the longitude and latitude information, the attitude angle and the attitude angle change rate of the moving carrier;
s2.2: determining an azimuth angle A, a pitch angle E and a polarization angle V of an antenna beam of a directional antenna in a geographic system by utilizing longitude and latitude information, an attitude angle and a beacon position of a moving carrier, and realizing beam adjustment by utilizing an antenna beam control system, so that the directional antenna initially faces a beacon to realize the capture of a beacon signal;
s2.3: after capturing the beacon signal, the directional antenna precisely aligns the beacon in a signal maximum mode to complete the stable tracking of the beacon and obtain the actual azimuth angle A of the antenna beam of the directional antenna in the geographic system during precise alignmentTTo the pitch angle ET；
S2.4: after the wave beam tracking is realized, the attitude angle deviation of the moving carrier is obtained according to the azimuth angle and pitch angle control deviation signals, and the attitude angle deviation of the moving carrier, namely the azimuth angle A and the pitch angle E, and the actual azimuth angle ATAngle of pitch ETThe deviation therebetween.
In the moving process of the moving carrier, the IMU or the INS continuously measures the attitude change of the moving carrier, and the beam pointing direction is adjusted by using the beam control system, so that the directional antenna beam is always pointed to the beacon and continuously tracked.
S3: and receiving the beacon signal obtained by the directional antenna by using a Doppler frequency shift tracking module, and measuring and obtaining Doppler frequency information caused by the movement of the moving carrier in the beacon signal. When the plurality of beacons and the plurality of directional antennas are selected at S1, a plurality of beams are aligned with the plurality of beacons, and a plurality of doppler frequencies and beam pointing information can be obtained.
S4: and correcting errors of an inertial measurement component or an inertial navigation system based on the attitude angle of the moving carrier and the attitude angle deviation of the moving carrier when the directional antenna aligns the beacon, the beacon position information and the Doppler frequency information of the beacon signal received by the moving carrier, and finally outputting the corrected navigation position information of the moving carrier. When S1 selects multiple beacons and multiple directional antennas, the navigation computation utilizes multiple doppler frequencies and beam pointing information, improving the accuracy of the correction.
Namely, the error accumulation of the inertial measurement unit IMU or the inertial navigation system INS can be corrected by using the directional antenna pointing information, the attitude angle deviation of the motion carrier, the beacon position information and the navigation information obtained by Doppler information correction, so that the high-precision navigation information output is realized.
The method can realize signal processing on a moving carrier by utilizing the position and beacon signals of fixed or moving beacons such as a geosynchronous communication satellite and the like under the condition that navigation positioning systems such as a GPS/BD and the like fail, and meets certain-precision navigation positioning information of moving carriers such as vehicles, ships, airplanes and missiles.
Although the patent can realize accurate navigation with low cost, the patent still needs to rely on Doppler information, and application scenes and range still have certain limitations.
Disclosure of Invention
In order to overcome the defects of the prior art and meet the navigation and positioning requirements of moving carriers, the invention aims to provide a device based on a multi-beam antenna, which can process signals on the moving carriers by utilizing signals of geosynchronous communication satellites and the like under the condition that the navigation and positioning systems of GNSS and the like are invalid, thereby realizing a low-cost emergency navigation and positioning system and meeting certain-precision navigation and positioning information of the moving carriers of vehicles, ships, airplanes, missiles and the like. The navigation device of the invention is characterized in that: 1. the autonomy is strong, signals are passively received but not transmitted, and navigation can be realized by depending on a single communication satellite but not depending on the single communication satellite; 2. the anti-interference performance is strong, a directional antenna with narrow wave beams and large gain is adopted to align a satellite, the direction of the antenna is constantly changed along with time, and intentional main lobe interference is almost impossible; 3. errors are not accumulated, and the inertial measurement unit IMU errors are continuously corrected by utilizing the antenna directivity and Doppler frequency shift information, so that high-precision positioning can be realized; 4. the realization cost is low, a satellite system does not need to be specially constructed, and the terminal cost is low. The invention has wide military application prospect in the aspects of ships, airplanes, vehicles, missiles and the like. Under the condition that the GNSS satellite navigation system is interfered, the method is particularly suitable for serving as a bottom-preserving and backup navigation means.
In order to achieve the purpose, the invention adopts the technical scheme that:
a multi-beam antenna based navigation device comprising:
a multi-beam antenna disposed on the moving carrier; the motion carrier can be a missile, an airplane, a ship, a cannonball or a vehicle, and the multi-beam antenna can be a synthetic multi-beam antenna or a phased array multi-beam antenna; the synthesized multi-beam antenna is a receiving antenna which synthesizes a plurality of beams, such as a reflector antenna, a flat antenna or a single-beam phased array antenna; the phased array multi-beam antenna is a mechanical phased array multi-beam antenna, a semiconductor phased array antenna, a metamaterial phased array antenna (such as a liquid crystal phased array antenna), an optical phased array antenna (such as a luneberg lens phased array), or a DBF phased array antenna (such as a digital multi-beam phased array antenna).
And the Inertial Measurement Unit (IMU) or the Inertial Navigation System (INS) is carried on the moving carrier, senses the moving information of the moving carrier in the moving process of the moving carrier, outputs the attitude angle and the attitude angle change rate of the moving carrier, and assists the beam control module to realize antenna beam control.
The beam control module is used for keeping each antenna beam always aligned to a corresponding satellite in the movement process of the movement carrier by using the assistance of an inertial measurement component or an inertial navigation system, and outputting antenna beam pointing information during alignment; wherein the satellite may be a GEO, MEO or LEO satellite. The beam control module is carried on the moving carrier, the direction of each antenna beam, namely the azimuth angle and the pitch angle, is calculated and determined by utilizing the longitude and latitude information of the moving carrier, the attitude angle of the moving carrier and the position of the satellite, and the beam adjustment is controlled according to the principle that the energy of received signals is maximum, so that each antenna beam is controlled to be accurately aligned to the corresponding satellite.
And the navigation calculation module is used for fusing and outputting the navigation position information of the motion carrier based on the attitude angle of the motion carrier and the attitude angle deviation of the motion carrier when each antenna beam is aligned with the satellite, the current position information of the satellite and the output information of the inertial measurement component or the inertial navigation system.
Optionally, the present invention further includes a doppler shift tracking module, which receives satellite beacon or carrier signals obtained by each antenna beam, measures doppler frequency information in the obtained signals due to motion of the moving carrier, and outputs the doppler frequency information to the navigation computation module for fusion. The Doppler frequency shift tracking module comprises a plurality of channels, each channel corresponds to an antenna beam, and each channel independently measures and obtains the Doppler frequency shift of the moving carrier relative to the corresponding satellite. The Doppler frequency shift tracking module measures the Doppler frequency shift of a satellite beacon or carrier signal relative to a set frequency and considers the influence of a propagation path on the Doppler frequency shift.
The method for obtaining the navigation position information of the moving carrier by the navigation calculation module in a fusion mode is as follows:
when the number k of antenna beams is greater than or equal to 2:
the positions of the moving carrier can be directly calculated according to the spatial relationship by using the positions of k satellites and the pointing information of k antenna wave beams (mainly referring to the pitching angle and the azimuth angle of the antenna). The more the number of beams is, the more redundant information can be used for improving the positioning accuracy by utilizing an optimization algorithm.
When the number k of antenna beams is 1:
the position of a single satellite and Doppler information received by a single antenna beam are utilized to realize the positioning navigation of the moving carrier based on the Doppler navigation principle; or the like, or, alternatively,
the position of a single satellite, the pointing information (namely the pitch angle and the azimuth angle of an antenna) of a single antenna wave beam and the Doppler information received by the single antenna wave beam are utilized to fuse and output the navigation position information of the moving carrier; or the like, or, alternatively,
the position of a single satellite, the pointing information (namely the pitch angle and the azimuth angle of an antenna) of a single antenna wave beam and the Doppler information received by the single antenna wave beam are utilized to fuse and output the navigation position information of the moving carrier; or the like, or, alternatively,
and when the antenna beam is aligned to the satellite, the attitude angle of the moving carrier and the attitude angle deviation of the moving carrier, the current position information of the satellite, the Doppler frequency information of satellite signals received by the antenna beam, and the output information of an inertial measurement component or an inertial navigation system are fused to output the navigation position information of the moving carrier.
When the number k of the wave beams is larger than 1, the redundant information can improve the positioning accuracy by utilizing an optimization algorithm.
Compared with the prior art, the invention has the beneficial effects that: the output of an inertial measurement unit IMU or an inertial navigation system INS, accurate pointing information obtained by a multi-beam antenna aiming at a satellite, Doppler frequency shift information of a motion carrier relative to a plurality of satellites and the information can be used for fusion and estimation of navigation position information of the motion carrier. As opposed to the single antenna case. In the case of a multi-beam antenna, the information for navigation and positioning of the moving carrier is more redundant, so that the algorithm for navigation and positioning fusion is more possible. From the principle perspective, the novel navigation terminal has the following characteristics: the autonomy is strong, signals are passively received but not transmitted, navigation can be achieved by means of communication satellites but not, no information interaction exists outside, and the autonomy is strong; the anti-interference performance is strong, the satellite signal is received by adopting the directional antenna wave beam with narrow wave beam and large gain, and intentional antenna main lobe interference becomes almost impossible because the positions of the moving carrier and the satellite are constantly changed along with time; the precision is high, errors are not accumulated, the errors of the inertial measurement unit IMU are continuously corrected by utilizing the directivity and Doppler shift information of the antenna, and high-precision navigation positioning can be realized; the realization cost is low, a satellite system does not need to be specially constructed, and the terminal cost is low.
Drawings
FIG. 1 is a schematic view of a navigation device according to the present invention.
FIG. 2 is a schematic diagram of the operation of the navigation device of the present invention.
Fig. 3 is a schematic diagram of the control of an antenna control module in accordance with an embodiment of the present invention.
FIG. 4 is a schematic diagram of a Doppler shift tracking module and a navigation computation module according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a motion carrier, a communication satellite and a coordinate relationship according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention provides a multi-beam antenna based navigation device, which includes a plurality of receiving antennas or phased array multi-beam antennas, an inertial measurement component or an inertial navigation system, a beam control module, a doppler shift tracking module (optional), and a navigation computation module. As multi-beam antennas have begun to be used with the continuous advancement of phased array antenna technology, the information for navigation and positioning of moving carriers is more redundant in the case of multi-beam antennas, and therefore the algorithm for navigation and positioning fusion will have more possibilities than the method described in patent 202110845079.8. For example, when the number k of beams is greater than 2, the positions of k satellites and k beam pointing information (including pitch angles and azimuth angles) are used, the position of the moving carrier can be directly calculated according to a spatial relationship without doppler information, and a doppler frequency shift tracking module is not needed in this case. In addition, redundant information is helpful for improving navigation positioning precision, thereby expanding the application scene and range of the navigation device.
FIG. 2 is a schematic diagram of the operation of the navigation device of the present invention, and the modules and functions are described as follows:
the multi-beam antenna is configured on the motion carrier platform. The multi-beam antenna is a synthesized multi-beam antenna or a phased array multi-beam antenna: the synthesized multi-beam antenna is a receiving antenna which synthesizes a plurality of beams, such as a reflector antenna, a flat antenna or a single-beam phased array antenna; the phased array multi-beam antenna is a mechanical phased array multi-beam antenna, a semiconductor phased array antenna, a metamaterial phased array antenna (such as a liquid crystal phased array antenna), an optical phased array antenna (such as a luneberg lens phased array), or a DBF phased array antenna (such as a digital multi-beam phased array antenna). In this example, two semiconductor phased array antennas are used.
The beam control module is assisted by an inertial measurement component or an inertial navigation system, keeps each antenna beam always aligned to a corresponding satellite in the movement process of the moving carrier, and outputs antenna beam pointing information during alignment. The satellite can be GEO, MEO or LEO satellite. The beam control module is carried on the moving carrier, the direction of each antenna beam, namely the azimuth angle and the pitch angle, is calculated and determined by utilizing the longitude and latitude information of the moving carrier, the attitude angle of the moving carrier and the position of the satellite, and the beam adjustment is controlled according to the principle that the energy of received signals is maximum, so that each antenna beam is controlled to be accurately aligned to the corresponding satellite. In the example, the wave beam frequency bands of the two antennas are both Ka frequency bands, and the wave beams are aligned to the geostationary orbit communication satellite of the Ka frequency band.
The inertial measurement unit IMU or the inertial navigation system INS is characterized in that in the motion process of the motion carrier, motion information of the motion carrier is sensed, attitude angle and attitude angle change rate information of the motion carrier are output, and an auxiliary beam control module is used for realizing antenna beam control.
And the Doppler frequency shift tracking module receives satellite beacon or carrier signals obtained by each antenna beam and measures Doppler frequency information caused by the movement of the moving carrier in the obtained signals. The doppler shift tracking module measures the doppler shift of the carrier or satellite beacon signal transmitted by the satellite with respect to a set frequency through each antenna beam and considers the influence of the propagation path on the doppler shift, such as the influence of the ionosphere. In this example, the doppler shift tracking module includes two channels, each channel corresponds to a beam, and each channel independently measures and obtains the doppler shift of the moving carrier relative to the corresponding communication satellite.
And the navigation calculation module is used for fusing various information and finally outputting the navigation position information of the motion carrier based on the attitude angle of the motion carrier and the attitude angle deviation of the motion carrier when each antenna beam is aligned with the satellite, the current position information of the satellite, the Doppler frequency information of satellite signals received by each beam and the output information of the inertial measurement component or the inertial navigation system.
In the example, a Ka-band semiconductor phased array antenna (only the front and back sides of a single antenna are shown, the number of units is 1024) is adopted, a main lobe of the Ka-band semiconductor phased array antenna is used for receiving satellite beacon signals, the width of the main lobe is as narrow as possible, the gain is high, and a side lobe is as small as possible to enhance the interference resistance.
Fig. 3 is a functional schematic block diagram of an antenna control module according to an embodiment of the present invention, where the antenna control module implements control of a polarization controller and control of azimuth and elevation according to an output of an IMU module, and implements modulation of an antenna beam direction until a beacon signal energy received by a tracking receiver is maximum, at which time, it is considered that fine alignment is implemented, and after the fine alignment, an actual azimuth angle a of an antenna beam of a directional antenna in a geographical system is obtainedTTo the pitch angle ET. The attitude angle deviation of the motion carrier, namely an azimuth angle A, a pitch angle E and an actual azimuth angle ATAngle of pitch ETThe deviation therebetween.
The azimuth angle A, the pitch angle E and the polarization angle V of the antenna beam of the phased array antenna in the geographic system are as follows:
wherein L is the latitude of the point where the moving carrier is located, piIs pi, and λ is the longitude of the moving carrier, λsThe longitude of the beacon substellar point.
FIG. 4 is a schematic diagram of a Doppler shift tracking module and a navigation computation module according to an embodiment of the present invention. The Doppler frequency shift tracking module is used for receiving a beacon signal (Ka frequency band communication satellite, the beacon frequency is 12250.5MHz) obtained by the phased array antenna, realizing Doppler frequency shift tracking of the satellite communication beacon, and measuring and obtaining Doppler frequency information brought by a moving carrier in the beacon signal. In the example, an atomic clock is used as a standard frequency source of two Doppler frequency shift tracking channels, and 10MHz reference frequency signals and 24MHz reference frequency signals are output. The antenna control module outputs the beacon analog intermediate frequency signal (the frequency range is 0.95-1.45 GHz) subjected to down-conversion as the input of the Doppler frequency shift tracking module.
In the embodiment of the invention, the number k of the wave beams is 2, and the calculation strategy of the navigation calculation module is as follows: and when the antenna beam is aligned to the satellite, the attitude angle of the moving carrier and the attitude angle deviation of the moving carrier, the current position information of the satellite, the Doppler frequency information of satellite signals received by the antenna beam, and the output information of an inertial measurement component or an inertial navigation system are fused to output the navigation position information of the moving carrier.
Based on the relative motion of the geosynchronous orbit satellite and the moving carrier and the Doppler principle, the Doppler model is
Wherein f iscarrierIndicating the beacon signal frequency, vsIs the velocity of the carrier in the ECEF coordinate system, which represents the velocity of the carrier relative to the reference satellite, e1、e2Is the unit vector of the line of sight directions of the moving carrier to the two satellites in the ECEF coordinate system, and c represents the speed of light. The unit vector received from the signal to the transmission is defined as follows:
wherein
And pvThe positions of the satellites and the moving carriers in the ECEF.
The relationship between the motion carrier, the satellite beacon and the coordinate is shown in fig. 5, and the longitude and latitude of the point where the motion carrier (in the northern hemisphere) is located are λ (the east longitude is positive, and the west longitude is negative) and L.
Symbol definition:
[ve,vn,vu]Tis the velocity vector v of the motion carrier in the northeast coordinate;
[δve,δvn,δvu]Tis the moving carrier velocity error vector deltav；
[λ,L,h]TIs the position vector p in the warp-weft-high expression form of the motion vector;
[δλ，,δL,δh]Tis the corresponding error vector δ p;
RNradius of the earth, f eccentricity of the earth.
Receiver measures Doppler frequency information in beacon signals due to motion of moving carriers
Including true doppler frequency
And doppler frequency error δ f:
δf＝δvr·ers·c/fcarrier＝δva·c/fcarrier
in the formula:
δ f is the Doppler frequency error
c is the speed of light
fcarrierIs the carrier frequency
vrIs the velocity of the moving carrier in the ECEF coordinate system
vsIs the velocity of the target satellite in the ECEF coordinate system
δvrIs the velocity error of the moving carrier in the ECEF coordinate system
ersIs a unit vector of the sight direction of the moving carrier to the target satellite in an ECEF coordinate system
δvaIs the speed error of the moving carrier in the direction from the moving carrier to the satellite sight
In one embodiment of the present invention, the step of estimating the navigation position of the moving carrier in the navigation computation module is as follows.
(1) IMU module pre-integration process
The measurement models of the gyroscope and accelerometer are assumed to be:
wherein
Representing a rotation from the navigational coordinate system to the inertial coordinate system,
is the angular velocity of the rotation of the earth,
for navigation frame rotation caused by motion of the carrier over the earth's surface having curvature,
and
respectively representing the measurement noise of the gyroscope and the accelerometer, and epsilon and delta respectively representing the deviation of the gyroscope and the accelerometer, which are independent of each other. gnRepresenting the gravitational acceleration vector.
The construction of a high-precision IMU pre-integration measurement model comprises the following steps:
wherein
Is a mapping from ECEF to the l navigation framework,
representing the rotation of the satellite from time i to time j (1, 2), (a) representing an antisymmetric matrix of a vectors,
the pre-integration measurement model makes the pre-integration quantity independent of the state quantities at time i and time j, so that the pre-integration quantity does not need to be recalculated each time the state quantities at time i and time j are updated. The pre-integral measurement model is related to the deviation, the pose and the speed of the moving carrier. These states are iterated through the optimization process. Suppose that
For the pre-integrated IMU state vector,
for incremental update, then
The error that can update the pre-integrated first estimate is:
jacobian matrix
Showing that the state update causes the IMU pre-integration measurement to change. The jacobian matrix, which remains unchanged during pre-integration, may be pre-computed during initialization.
(2) Doppler frequency pre-integration measurement model
Assume that the entire state vector is:
wherein xiThe IMU state vector, the doppler frequency at time i is measurable. It contains the position, velocity and orientation of the ECEF frame, and the offset of the accelerometers and gyroscopes in the IMU count volume.
Indicating the rotation from the moving carrier to the navigation body at the i-th instant. k is the optimized track length.
Indicating the ECEF location of the observation communication satellites 1, 2. bclk1,bclk2Indicating the doppler shift of the satellites 1,2 beacons. When the GNSS measurements are valid, the GNSS receiver may,
and bclk1,bclk2Can be observed.
The mahalanobis norm and residual for all pre-integrals, doppler measurements, and GNSS measurements and estimates are minimized to obtain the maximum a posteriori estimate as:
wherein r isI(·)、rF(. and r)G() residuals for pre-integration, doppler frequency, and GNSS positioning measurements, respectively.
(3) IMU pre-integrated measurement residual and Doppler frequency measurement residual
The position and velocity of the IMU pre-integration addition represent two consecutive structure measurements k and k +1, and the measurement residual of the IMU pre-integration is defined as:
wherein
Rotation, velocity and position (M) representing IMU pre-integration increase, respectively∨Representing the mapping of the antisymmetric matrix M to a corresponding real vector a.
The residual of the doppler frequency pre-integration is defined as:
wherein
Obtaining a beacon signal frequency measurement by a doppler shift tracking module, and a GNSS measurement residual is defined as:
wherein
Representing position measurements of a GNSS at time j and
representing the velocity measurement at time j, independent of each other.
(4) State estimation algorithm based on graph optimization
In this example, a graph optimization method is used to solve the nonlinear optimization problem. The calculation is cycled through by optimizing variables in all trajectories and then updating the pre-integration measurements until the residual is less than the threshold in the iterative process. The algorithm is as follows:
is provided with
Is an initial solution; c ═ C<eij(·),Ωij>Is a constraint; setting a residual error threshold value; x is the number of*To solve newly, H*Is a new information matrix;
to find the maximum likelihood solution, when the residual error is>Residual threshold, b ═ 0; h is 0; for all C ═ tone<eij(·),Ωij>Computing a jacobian matrix:
the contribution of the constraint to the linear system is calculated:
calculating a coefficient vector:
keeping the first node unchanged: h[11]+＝I
Solving the linear system with cholesky decomposition:
Δx＝slove(HΔx＝-b)
updating parameters:
and circulating until:
H*＝H
。
Claims (9)
1. a multi-beam antenna based navigation device, comprising:
a multi-beam antenna disposed on the moving carrier;
the inertial measurement component or the inertial navigation system is carried on the moving carrier, senses the motion information of the moving carrier in the motion process of the moving carrier, and outputs the attitude angle and the attitude angle change rate of the moving carrier;
the beam control module is carried on the moving carrier, keeps each antenna beam always aligned to a corresponding satellite in the moving process of the moving carrier, and outputs antenna beam pointing information during alignment;
and the navigation calculation module is used for fusing and outputting the navigation position information of the motion carrier based on the attitude angle of the motion carrier and the attitude angle deviation of the motion carrier when each antenna beam is aligned with the satellite, the current position information of the satellite and the output information of the inertial measurement component or the inertial navigation system.
2. The multi-beam antenna based navigation device of claim 1, wherein the moving carrier is a missile, aircraft, ship, cannonball, or vehicle and the satellite is a GEO, MEO, or LEO satellite.
3. The multi-beam antenna-based navigation device of claim 1, wherein the multi-beam antenna is a synthetic multi-beam antenna or a phased array multi-beam antenna.
4. The multi-beam antenna based navigation device of claim 3, wherein the synthetic multi-beam antenna is a reflector antenna, a panel antenna, or a single beam phased array antenna; the phased array multi-beam antenna is a mechanical phased array multi-beam antenna, a semiconductor phased array antenna, a metamaterial phased array antenna, an optical phased array antenna or a DBF phased array antenna.
5. The multi-beam antenna based navigation device according to claim 1, wherein the beam control module determines each antenna beam direction, i.e. azimuth angle and pitch angle, by using longitude and latitude information of the moving carrier, attitude angle of the moving carrier and satellite position calculation, and controls beam adjustment according to the principle that received signal energy is maximum, so as to control each antenna beam to be precisely aligned with the corresponding satellite.
6. The multi-beam antenna based navigation device of claim 1, further comprising:
and the Doppler frequency shift tracking module receives satellite beacon or carrier signals obtained by each antenna beam, measures Doppler frequency information caused by the motion of the motion carrier in the obtained signals, and outputs the Doppler frequency information to the navigation calculation module for fusion.
7. The multi-beam antenna based navigation device of claim 6, wherein the Doppler shift tracking module measures Doppler shifts of satellite beacon or carrier signals relative to a set frequency and accounts for effects of propagation paths on Doppler shifts.
8. The multi-beam antenna based navigation device of claim 6, wherein the Doppler shift tracking module comprises a plurality of channels, each channel corresponding to one antenna beam, each channel independently measuring Doppler shift of a moving carrier relative to a corresponding satellite.
9. The multi-beam antenna based navigation device according to claim 8, wherein the navigation computation module fuses the navigation position information of the moving carrier as follows:
when the number k of the antenna beams is greater than or equal to 2, the positions of the moving carrier are directly calculated according to the spatial relationship by using the positions of the k satellites and the pointing information of the k antenna beams;
when the number k of antenna beams is 1:
the position of a single satellite and Doppler information received by a single antenna beam are utilized to realize the positioning navigation of the moving carrier based on the Doppler navigation principle; or the like, or, alternatively,
the position of a single satellite, the pointing information of a single antenna wave beam and the Doppler information received by the single antenna wave beam are fused to output the navigation position information of the moving carrier; or the like, or, alternatively,
the position of a single satellite, the pointing information of a single antenna wave beam and the Doppler information received by the single antenna wave beam are fused to output the navigation position information of the moving carrier; or the like, or, alternatively,
and when the antenna beam is aligned to the satellite, the attitude angle of the moving carrier and the attitude angle deviation of the moving carrier, the current position information of the satellite, the Doppler frequency information of satellite signals received by the antenna beam, and the output information of an inertial measurement component or an inertial navigation system are fused to output the navigation position information of the moving carrier.
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