CN114966781B - Military forces actual combat equipment big dipper differential positioning system - Google Patents

Military forces actual combat equipment big dipper differential positioning system Download PDF

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CN114966781B
CN114966781B CN202210895110.3A CN202210895110A CN114966781B CN 114966781 B CN114966781 B CN 114966781B CN 202210895110 A CN202210895110 A CN 202210895110A CN 114966781 B CN114966781 B CN 114966781B
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power consumption
positioning
average power
obtaining
excessive
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CN114966781A (en
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周清霞
柳丽
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Beijing Yuandong Jiaye Technology Co ltd
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Beijing Yuandong Jiaye Technology Co ltd
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R21/00—Arrangements for measuring electric power or power factor
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/34—Power consumption
    • 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
    • G01S19/40—Correcting position, velocity or attitude
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention relates to the technical field of electric digital data processing, in particular to a Beidou differential positioning system for military actual combat equipment. The system acquires power consumption data, environmental interference characteristics and duration characteristics of a positioning state of the positioning device through the information acquisition module. The method comprises the steps of obtaining an excessive power consumption evaluation index by combining long characteristics and power consumption data through a power consumption evaluation module, and obtaining a differential positioning performance factor by combining environmental interference characteristics and power consumption data through a differential positioning performance evaluation module. The excessive energy consumption detection module judges whether the device has an excessive energy consumption state according to the power consumption data and the duration characteristics, and the power consumption adjustment module adjusts the power consumption of the positioning device in the excessive energy consumption state according to the excessive power consumption evaluation index and the differential positioning performance factor. The invention collects, processes and quantifies the power consumption data generated in the positioning process, and adjusts the power consumption generated by the device through the quantified indexes, thereby realizing the energy-saving effect of the positioning device and ensuring the operation stability of the device.

Description

Military forces actual combat equipment big dipper differential positioning system
Technical Field
The invention relates to the technical field of electric digital data processing, in particular to a Beidou differential positioning system for military actual combat equipment.
Background
At present, requirements on equipment position precision and cruising ability in the Beidou differential positioning of actual combat equipment for troops are very strict, a traditional satellite positioning algorithm is usually only updated at a common high frequency, and a high-precision positioning scheme of an RTK (Real time kinematic) carrier phase differential technology usually has a common fault: although the equipment can enter a differential state, the equipment is difficult to keep stable, so that the accuracy of judgment such as low-power-consumption dormancy is seriously influenced, and for the application of Beidou differential positioning of army actual combat equipment, the positioning device is high in charging maintenance cost and poor in stability.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a Beidou differential positioning system for actual combat equipment of troops, which adopts the following technical scheme:
the invention provides a Beidou differential positioning system for actual combat equipment of troops, which comprises: the system comprises an ARM core CPU, an information acquisition module, a power consumption evaluation module, a differential positioning performance evaluation module, an excessive power consumption detection module and a power consumption adjustment module;
the ARM core CPU comprises a radio PA module, and the radio PA module carries out 4G-LTE communication based on a B-trunC mode;
the information acquisition module is used for acquiring first average power consumption of the radio PA module, interference intensity of different positions in a current geographical area, second average power consumption of the ARM core CPU and continuous duration in each positioning state;
the power consumption evaluation module is used for integrating continuous time lengths in all positioning states to obtain a time length sequence; the second average power consumption forms a second average power consumption sequence according to a preset sampling frequency and a preset sampling time period; obtaining an excessive power consumption evaluation index according to the time length sequence and the second average power consumption sequence in the sampling time period;
the differential positioning performance evaluation module is used for obtaining an interference intensity score of the current geographic area according to an interference intensity set consisting of interference intensities of different positions of the current geographic area; obtaining a power consumption difference coefficient according to the first average power consumption at the current positioning position; obtaining a differential positioning performance factor according to the interference intensity score and the power consumption difference coefficient;
the excessive energy consumption detection module is used for obtaining a state index according to the second average power consumption and the continuous duration in the positioning process and judging whether the current positioning device is in an excessive energy consumption state or not according to the size of the state index;
the power consumption adjusting module is used for adjusting the first average power consumption according to the excessive power consumption evaluation index and the differential positioning performance factor when the positioning device is in an excessive power consumption state; and adjusting the second average power consumption according to the differential positioning performance factor.
Further, the method for acquiring the interference intensity of different positions in the current geographic area by the information acquisition module comprises the following steps:
and obtaining a geographical grid according to the longitude and latitude of the current geographical area, and taking the drift error of the positioning result in the geographical grid as the interference intensity of each position.
Further, the obtaining an excessive power consumption evaluation index according to the time length sequence and the second average power consumption sequence within the sampling time period includes:
obtaining the excessive power consumption evaluation index according to an excessive power consumption evaluation index formula, wherein the excessive power consumption evaluation index formula comprises:
Figure 745747DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 905333DEST_PATH_IMAGE002
as the index of the excessive power consumption evaluation,
Figure 564591DEST_PATH_IMAGE003
is a natural constant and is a natural constant,
Figure 518641DEST_PATH_IMAGE004
for the said sequence of durations of time,
Figure 499235DEST_PATH_IMAGE005
as a function of the statistics of the number of sequence elements,
Figure 229556DEST_PATH_IMAGE006
is the largest odd number of the element sequence numbers in the time length sequence,
Figure 979206DEST_PATH_IMAGE007
is the first in the time length sequence
Figure 133850DEST_PATH_IMAGE008
The number of the elements is one,
Figure 336162DEST_PATH_IMAGE009
for a second average power consumption in the second sequence of average power consumptions,
Figure 368709DEST_PATH_IMAGE010
in order to preset the optimal positioning power consumption,
Figure 474330DEST_PATH_IMAGE011
for the first fitting parameter to be the first,
Figure 770182DEST_PATH_IMAGE012
the function is calculated for the mean value,
Figure 958325DEST_PATH_IMAGE013
is a tangent hyperbolic normalization function.
Further, the obtaining of the interference strength score of the current geographic area according to the interference strength set composed of the interference strengths of different locations of the current geographic area includes:
constructing an initial spatial weight matrix according to preset weights at different positions in the current geographic area; constructing an inverse distance model according to Euclidean distances at different positions, and standardizing the initial spatial weight matrix according to the inverse distance model to obtain a spatial weight matrix; and obtaining a z score according to the space weight matrix and the interference intensity set, and negating the z score to obtain the interference intensity score.
Further, the power consumption difference coefficient obtained according to the first average power consumption at the current location position includes:
counting the first average power consumption of each position in the current geographic area to obtain a median; and taking an absolute value obtained by subtracting the ratio of the first average power consumption to the median at the current positioning position as a power consumption difference, and obtaining the power consumption difference coefficient according to the power consumption difference.
Further, the obtaining a differential positioning performance factor according to the interference strength score and the power consumption difference coefficient includes:
and taking the product of the absolute value of the interference strength score and the power consumption difference coefficient as the differential positioning performance factor.
Further, the obtaining a state index according to the second average power consumption and the continuous duration in the positioning process, and determining whether the current positioning device is in an excessive power consumption state according to the state index includes:
obtaining the status indicator according to a status indicator formula, the status indicator formula comprising:
Figure 263404DEST_PATH_IMAGE014
wherein the content of the first and second substances,
Figure 987647DEST_PATH_IMAGE015
in order to be the status indicator,
Figure 752602DEST_PATH_IMAGE016
for said second average power consumption during the entire positioning,
Figure 929506DEST_PATH_IMAGE010
in order to optimally locate the power consumption,
Figure 271232DEST_PATH_IMAGE017
for the second fitting parameter to be the second fitting parameter,
Figure 115560DEST_PATH_IMAGE012
in order to calculate the function for the mean value,
Figure 18794DEST_PATH_IMAGE013
is a tangent hyperbolic normalized function,
Figure 184459DEST_PATH_IMAGE018
in order to be a function of the sign,
Figure 96920DEST_PATH_IMAGE019
for the first of said consecutive time periods in the positioning process,
Figure 317727DEST_PATH_IMAGE020
is a standard continuous time period of time,
Figure 391862DEST_PATH_IMAGE021
is the third fitting parameter or parameters, and,
Figure 310402DEST_PATH_IMAGE022
is a maximum function;
and if the state index is a positive value, determining that the current positioning device is in an excessive energy consumption state.
Further, the adjusting the first average power consumption according to the excessive power consumption evaluation index and the differential positioning performance factor includes:
obtaining the adjusted first average power consumption according to a first average power consumption adjustment formula, where the first average power consumption adjustment formula includes:
Figure 26554DEST_PATH_IMAGE023
wherein the content of the first and second substances,
Figure 845474DEST_PATH_IMAGE024
for the adjusted first average power consumption,
Figure 854625DEST_PATH_IMAGE025
the first average power consumption which is the largest in the whole positioning process at the current position,
Figure 493417DEST_PATH_IMAGE002
as the index of the excessive power consumption evaluation,
Figure 983567DEST_PATH_IMAGE026
for the purpose of the differential positioning performance factor,
Figure 391414DEST_PATH_IMAGE003
is a natural constant and is a natural constant,
Figure 72931DEST_PATH_IMAGE027
a function is selected for the minimum.
Further, the adjusting the second average power consumption according to the differential positioning performance factor comprises:
obtaining the adjusted second average power consumption according to a second average power consumption adjustment formula, where the second average power consumption adjustment formula includes:
Figure 697554DEST_PATH_IMAGE028
wherein the content of the first and second substances,
Figure 755509DEST_PATH_IMAGE029
for the adjusted second average power consumption,
Figure 253749DEST_PATH_IMAGE030
to said second average power consumption before adjustment,
Figure 371746DEST_PATH_IMAGE010
the optimal positioning power consumption is preset and the optimal positioning power consumption is preset,
Figure 218086DEST_PATH_IMAGE003
is a natural constant and is a natural constant,
Figure 814152DEST_PATH_IMAGE026
a performance factor is located for the difference.
The invention has the following beneficial effects:
according to the embodiment of the invention, the second average power consumption of the ARM core CPU and the first average power consumption of the internal radio PA module are monitored in real time, and the interference degree of the current geographical area and the continuous duration of each positioning state of the current device are jointly analyzed to obtain the excessive power consumption evaluation index and the differential positioning performance factor. The excessive power consumption evaluation index visually represents the power consumption condition of the current device, and the differential positioning performance factor represents the positioning performance of the current device, so that the first average power consumption and the second average power consumption can be respectively adjusted according to the two characteristic indexes, the stability of the whole positioning device is higher, and the charging maintenance cost is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions and advantages of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a block diagram of a Beidou differential positioning system for military actual combat equipment provided by an embodiment of the invention.
Detailed Description
In order to further explain the technical means and effects of the present invention adopted to achieve the predetermined invention purpose, the following detailed description, with reference to the accompanying drawings and preferred embodiments, describes a Beidou differential positioning system for military actual combat equipment according to the present invention, and its specific implementation, structure, features and effects thereof. In the following description, different "one embodiment" or "another embodiment" refers to not necessarily the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
The specific scheme of the Beidou differential positioning system for the actual soldier engagement equipment of the troops provided by the invention is specifically described below by combining the attached drawings.
Referring to fig. 1, a block diagram of a system for differential positioning of a military actual combat equipment beidou according to an embodiment of the present invention is shown, where the system includes:
the system comprises an ARM core CPU101, an information acquisition module 102, a power consumption evaluation module 103, a differential positioning performance evaluation module 104, an excessive power consumption detection module 105 and a power consumption adjustment module 106.
The ARM core CPU101 comprises a radio PA module 201, and the radio PA module 201 performs 4G-LTE communication based on a B-Trunc system, so that the function of digital signal processing of a traditional GNSS is achieved, and a positioning result is resolved by using a high-precision PVT algorithm.
The high-performance calculation process of the ARM core CPU101 brings large power consumption, but the calculation result is high in updating speed, needs to be positioned quickly, and can achieve extremely high positioning performance during convergence. However, when the positioning is completed, if the actual combat equipment is not in the dormant state when being static, and the high-performance positioning is continuously performed, unnecessary high energy consumption is caused. Because the device provided by the embodiment of the invention is used for actual combat equipment, the simple dormancy judgment logic design is conservative, the control on energy consumption is rough, and the high-precision energy consumption adjustment cannot be realized. Therefore, the positioning device provided by the embodiment of the invention monitors and quantificationally integrates the energy consumption through the subsequent modules, thereby realizing the accurate adjustment of the energy consumption and optimizing the endurance and the positioning performance of the device.
The information acquisition module 102 is configured to acquire a first average power consumption of the radio PA module, interference intensities of different locations in a current geographic area, a second average power consumption of the ARM core CPU, and a continuous duration in each positioning state. The information collected by the information collecting module 102 specifically includes:
(1) for the first average power consumption of the radio PA module, since the location is different and the standby update threshold of the positioning system is different, the average power consumption of the radio PA module generated by positioning is also different when positioning is performed, so that the average power consumption generated by the radio PA module can be used as important characteristic data in power consumption analysis for the purpose of saving energy. It should be noted that the first average power consumption can be obtained by a power management technique, which is a technical means known to those skilled in the art and is not described herein again, and can implement real-time detection of the first average power consumption generated by the radio PA module within a certain time period.
(2) For the interference intensity of different positions in the current geographic area, when positioning is performed, if the interference of a certain position is large, the differential positioning system can continuously re-calculate the position and update the position due to continuous position drift, so that the positioning information is closer to the actual estimation result, and in the case of low positioning accuracy in the geographic environment, most of the electric energy resources are used for improving the positioning accuracy. Preferably, the method for specifically acquiring the interference strength comprises the following steps: obtaining a geographical grid according to the longitude and latitude of the current geographical area, and taking the drift error of the positioning result in the geographical grid as the interference intensity of each position, wherein the magnitude of the drift error can be specifically set according to a specific implementation scenario, which is not limited herein.
(3) For the second average power consumption of the ARM core CPU, the ARM core CPU executes a complex calculation result, and the second average power consumption generated by the ARM core CPU of the Beidou positioning system is important characteristic data because the Beidou satellite is more in satellite searching quantity and the RTK real-time adjustment calculation consumes more calculation resources. The second average power consumption is influenced by different satellite searching quantities and different resolving frequencies, and because the precision of each real soldier engagement equipment Beidou differential positioning device on the positioning requirement can be different in actual combat, the actual data refresh rate, the resolving of differential positioning and the adjustment iteration mode are different when the device is used, and the finally generated second average power consumption can also be different. If the second average power consumption of a certain device is an abnormal value, the second average power consumption is abnormally high or low and is continuously and actually long, the problem that the calculation of the resolving process is wasted or the differential positioning accuracy is poor when the current position is used can be explained to a certain extent. It should be noted that the second average power consumption is obtained by the same method as the first average power consumption.
(4) For the continuous duration of each positioning state, generally speaking, in the actual combat positioning process, the positions of most actual combat equipment are not continuously moved, so that after the actual combat positioning process is stopped for a period of time, common drift positions can be inhibited based on the adjustment calculation between RTK or positioning devices, when the drift distance is lower than a certain threshold value, the current positioning result can be considered to be more accurate, the positioning device is in a low-power-consumption positioning state, and if the device is always in a high-refresh-rate positioning state, the current device can be considered to be in a power waste condition. If the high-frequency positioning time is short or the high-frequency positioning is in a high-frequency resolving state intermittently, the current positioning mode is more energy-saving. It should be noted that, since the enabling of the positioning is performed after the card is inserted, the time generated by the enabling signal after the card is inserted can be used as a starting state, and the starting state is used to count the durations of different states of the device with high performance and low power consumption.
After the information acquisition module 102 finishes information acquisition, the information is sent to a subsequent module for data analysis. The power consumption evaluation module 103 integrates the continuous durations in all the positioning states to obtain a duration sequence, that is, the continuous durations are sorted according to the time sequence of all the positioning states. It should be noted that the lengths of the time length sequences at different positions are different, and the data are related to the geographic environment and the equipment movement condition, because the positioning operation at the starting state necessarily requires high power consumption to resolve the positioning information, the elements at the odd number positions in the time length sequences are high-frequency positioning time lengths, and the elements at the even number positions are time lengths consumed by low power consumption. And further forming a second average power consumption sequence according to the preset sampling frequency and the preset sampling time period.
If the positioning device does not exit the high-performance positioning state from the starting state to the positioning end, misjudgment of system management is certain to exist, and the positioning device is always in a state of high energy consumption but energy waste due to unsatisfactory positioning effect. Therefore, the power consumption condition of the current device can be measured according to the number of elements and the value of the elements in the time length sequence. Further, considering that the second average power consumption is the whole power consumption information of the ARM core CPU, the second average power consumption is also an important index for judging the power consumption condition of the current device, and the excessive power consumption evaluation index can be obtained according to the time length sequence and the second average power consumption sequence in the sampling time period, which specifically includes:
obtaining an excessive power consumption evaluation index according to an excessive power consumption evaluation index formula, wherein the excessive power consumption evaluation index formula comprises:
Figure 931013DEST_PATH_IMAGE031
wherein the content of the first and second substances,
Figure 721377DEST_PATH_IMAGE002
in order to be an index for evaluation of excessive power consumption,
Figure 556478DEST_PATH_IMAGE003
is a natural constant and is a natural constant,
Figure 454770DEST_PATH_IMAGE004
in the form of a sequence of durations of time,
Figure 691716DEST_PATH_IMAGE005
as a function of the statistics of the number of sequence elements,
Figure 885937DEST_PATH_IMAGE006
is the largest odd number of element numbers in the time length sequence,
Figure 709799DEST_PATH_IMAGE007
is the first in a time length sequence
Figure 647668DEST_PATH_IMAGE008
The number of the elements is one,
Figure 237656DEST_PATH_IMAGE009
for the second average power consumption in the second sequence of average power consumptions,
Figure 133937DEST_PATH_IMAGE010
in order to preset the optimal positioning power consumption,
Figure 710674DEST_PATH_IMAGE011
for the first fitting parameter to be the first,
Figure 452234DEST_PATH_IMAGE012
the function is calculated for the mean value,
Figure 398193DEST_PATH_IMAGE013
is a tangent hyperbolic normalization function.
The excessive power consumption evaluation index formula is obtained by utilizing mathematical modeling fitting according to the relation between the indexes, wherein the statistical function of the number of the sequence elements counts the number of the elements in the time length sequence, and the larger the number of the elements is, the more frequent the switching of the high and low performances of the device is, and the better the power saving effect of the device is.
Figure 432752DEST_PATH_IMAGE032
The term is the sum of odd position elements in the time length sequence and can reflect the approximate energy consumption when the device is positioned currently, and the smaller the term is, the better the energy-saving effect is, otherwise, the larger the energy consumption is. The last item is a difference between the second average power consumption and a preset optimal positioning power consumption, the larger the difference is, the larger the power consumption is, it needs to be stated that the optimal positioning power consumption here can be specifically set according to a specific implementation scenario, and the smaller the power consumption needs to be set, so as to avoid an erroneous judgment on the power consumption situation, in the embodiment of the present invention, the optimal positioning power consumption is set to 1250mW,
Figure 729741DEST_PATH_IMAGE011
the sampling frequency for the second average power is set to 0.03 and 0.2 Hz.
In the embodiment of the invention, in order to avoid conservative final evaluation caused by rapid tactical transition in a battlefield, the last three times of data are referred according to historical data, the measurement of the excessive power consumption evaluation index is carried out once every time, and then the average value is taken to obtain the final evaluation.
The differential positioning performance evaluation module 104 is configured to obtain an interference strength score of the current geographic area according to an interference strength set formed by interference strengths of different positions in the current geographic area. If the interference intensities in the current geographic area are all consistent and are the condition of low interference, the power consumption of each positioning device is close to the power consumption of the other positioning device. If the interference intensity of part of the positions is particularly low or particularly high, the device can self-adaptively adjust the power consumption, and the effects of energy conservation and accurate positioning are achieved. Therefore, the overall interference strength of the current geographical area needs to be evaluated, and whether the performance achieved by adjusting the power consumption of the current device reaches the standard or not is determined according to the evaluation. The method for specifically obtaining the interference intensity score comprises the following steps:
and constructing an initial spatial weight matrix according to preset weights at different positions in the current geographic area. Constructing an inverse distance model according to Euclidean distances at different positions, and standardizing an initial spatial weight matrix according to the inverse distance model to obtain a spatial weight matrix; and obtaining a z score according to the space weight matrix and the interference intensity set, negating the z score to obtain an interference intensity score, namely multiplying the z value by-1 to obtain the interference intensity score. It should be noted that the spatial statistics method is a technical means well known to those skilled in the art, and the detailed description thereof is omitted here.
In the embodiment of the present invention, in the spatial weight matrix, the open position weight is set to 1, and the position close to the rock, the building, or the like is set to 0.3 or the like.
Since the interference strength score conforms to the normal distribution, in the embodiment of the present invention, the P value corresponding to the interference strength score at 0 is the largest, where the z value and the P value are concepts in spatial statistics, which is well known in the prior art and will not be described herein again. The interference intensity score is a result of negation of the z value, so that if the interference intensity score is larger than 1, the geographic area is considered to be surrounded by high values, high-value clustering is presented, and a characteristic of area space aggregation with high interference ratio is formed; conversely, if less than-1, it indicates that the geographic area is surrounded by low values, presenting low value clusters, forming features of spatial clustering with lower interference. Therefore, the more abnormal the region, the higher the interference intensity score, and the symbol represents the direction of random interference, i.e. the direction of abnormality.
Due to differences of different positions, the first average power of the radio PA module at each position also forms a significant difference, and parameters such as a standby update threshold of a positioning device at each position also form a difference and change, so that a power consumption difference coefficient is obtained for the first average power consumption of each position and other positions, specifically including:
and counting the first average power consumption of each position in the current geographic area to obtain a median. And taking an absolute value obtained by subtracting the ratio of the first average power consumption to the median at the current positioning position as the power consumption difference, and obtaining a power consumption difference coefficient according to the power consumption difference.
It should be noted that, because the power consumption difference coefficient needs to play a role in power consumption adjustment subsequently, in the embodiment of the present invention, the power consumption difference coefficient is subjected to dimension conversion, and the converted power consumption difference coefficient is
Figure 979719DEST_PATH_IMAGE033
In which
Figure 311343DEST_PATH_IMAGE034
The dimensional adjustment coefficient is 10;
Figure 752689DEST_PATH_IMAGE035
for the first average power consumption at the current location,
Figure 769930DEST_PATH_IMAGE036
is the median.
And taking the product of the absolute value of the interference strength score and the power consumption difference coefficient as a differential positioning performance factor. The larger the differential positioning performance factor is, the worse the differential positioning performance of the current apparatus is, the more complex the environment of the geographic area is, and there may be a structure blocking radio signals, which may allow a certain degree of understanding of the high power consumption of the apparatus during the subsequent adjustment.
The excessive energy consumption detection module 105 is configured to obtain a state index according to a continuous duration of the second average power consumption in the positioning process, and the excessive energy consumption is mainly embodied in a high power consumption state for a long time, so that whether the current device is in the high power consumption state for a long time can be jointly determined by combining the second average power consumption and the continuous duration, and determining whether the current positioning device has the excessive energy consumption state according to the size of the state index specifically includes:
obtaining a state index according to a state index formula, the state index formula comprising:
Figure 587713DEST_PATH_IMAGE014
wherein the content of the first and second substances,
Figure 337626DEST_PATH_IMAGE015
in order to be a status indicator,
Figure 481031DEST_PATH_IMAGE016
for a second average power consumption during the entire positioning process,
Figure 821506DEST_PATH_IMAGE010
in order to optimally locate the power consumption,
Figure 177401DEST_PATH_IMAGE017
for the second fitting parameter to be the second fitting parameter,
Figure 952459DEST_PATH_IMAGE012
the function is calculated for the mean value,
Figure 237072DEST_PATH_IMAGE013
is a tangent hyperbolic normalized function,
Figure 995949DEST_PATH_IMAGE018
in order to be a function of the sign,
Figure 919650DEST_PATH_IMAGE019
for the first continuous time period in the positioning process,
Figure 549214DEST_PATH_IMAGE020
is a standard continuous time period of time,
Figure 768843DEST_PATH_IMAGE021
is the third fitting parameter or parameters, and,
Figure 985323DEST_PATH_IMAGE022
as a function of the maximum value.
The state index formula is combined with the difference between a preset standard value and real-time data to obtain a state index, in the state index formula, the second average power consumption is considered to have sampling frequency, so that the difference average value of each second average power consumption and the optimal positioning power consumption in the whole positioning process is taken as analysis data, the data is adjusted through a normalization function and a second fitting function and is subjected to difference with a constant, positive value data or negative value data is output by utilizing a sign function, wherein the larger the difference average value is, the easier the value output by the sign function is to be a positive value; and the second term corrects the first continuous time length through a third fitting function, a certain spare time is reserved for the positioning device, and if the first continuous time length is longer and overtime occurs, the more easily the value output by the sign function is a positive value. And selecting the maximum value between the output values of the two sign functions through the maximum value function, and judging whether the positioning device has an excessive energy consumption state. In an embodiment of the present invention, the second fitting parameter is set to 0.03 and the third fitting parameter is set to 0.8.
And if the state index is a positive value, the current positioning device is considered to have an excessive energy consumption state.
The power consumption adjusting module 106 is configured to adjust the first average power consumption according to the excessive power consumption evaluation index and the differential positioning performance factor, and adjust the second average power consumption according to the differential positioning performance factor when the positioning apparatus is in an excessive power consumption state.
The first method for adjusting the average power consumption specifically includes:
obtaining the adjusted first average power consumption according to a first average power consumption adjustment formula, where the first average power consumption adjustment formula includes:
Figure 948600DEST_PATH_IMAGE023
wherein the content of the first and second substances,
Figure 698250DEST_PATH_IMAGE024
to adjust forThe latter said first average power consumption is,
Figure 852894DEST_PATH_IMAGE025
the first average power consumption which is the largest in the whole positioning process at the current position,
Figure 55205DEST_PATH_IMAGE002
as the index of the excessive power consumption evaluation,
Figure 323638DEST_PATH_IMAGE026
for the purpose of the differential positioning performance factor,
Figure 193374DEST_PATH_IMAGE003
the natural constant is a function of the time constant,
Figure 958068DEST_PATH_IMAGE027
a function is selected for the minimum.
In the first average power consumption adjustment formula, the maximum first average power consumption in the whole positioning process at the current position is used as a reference value, the reference value is adjusted according to the excessive power consumption evaluation index and the differential positioning performance factor, and the larger the excessive power consumption evaluation index is, the more serious the power consumption is, the smaller the reference value is; the larger the differential positioning performance factor is, the worse the current positioning effect is, the more the limitation on the high-power state of the device needs to be relaxed, that is, the larger the differential positioning performance factor is, the less the reference value needs to be adjusted. In order to prevent the over-adjustment of the reference value, 0.4 is used as a limiting scaling factor, and the minimum value is selected as a final adjustment result through a minimum value selection function.
Adjusting the second average power consumption according to the differential positioning performance factor specifically includes:
obtaining an adjusted second average power consumption according to a second average power consumption adjustment formula, wherein the second average power consumption adjustment formula comprises:
Figure 850937DEST_PATH_IMAGE037
wherein the content of the first and second substances,
Figure 857814DEST_PATH_IMAGE029
for the adjusted second average power consumption,
Figure 785319DEST_PATH_IMAGE030
in order to adjust the second average power consumption before adjustment,
Figure 986493DEST_PATH_IMAGE010
the optimal positioning power consumption is preset and the optimal positioning power consumption is preset,
Figure 366659DEST_PATH_IMAGE003
is a natural constant and is a natural constant,
Figure 914577DEST_PATH_IMAGE026
a performance factor is positioned for the difference.
In the second average power consumption adjusting formula, the second average power consumption before adjustment is used as a reference value, and the difference between the reference value and the reference value is combined with the differential positioning performance factor to obtain an adjusting quantity, so that the possible exhaustion of the second average power before adjustment is closed to the optimal positioning power consumption.
It should be noted that the specific adjustment operation modes of the first average power consumption and the second average power consumption are the prior art well known to those skilled in the art, for example, the communication interval of the 4G module is increased, the solution frequency of the PVT algorithm is reduced, the solution frequency of the beidou positioning is reduced, and the purpose of reducing the power consumption is achieved by selecting a certain operation or some operations, and the specific operation is not limited herein.
In summary, in the embodiments of the present invention, the information acquisition module acquires the power consumption data, the environmental interference characteristic, and the time duration characteristic of the positioning state of the positioning device. The method comprises the steps of obtaining an excessive power consumption evaluation index by combining long characteristics and power consumption data through a power consumption evaluation module, and obtaining a differential positioning performance factor by combining environmental interference characteristics and power consumption data through a differential positioning performance evaluation module. The excessive energy consumption detection module judges whether the device has an excessive energy consumption state according to the power consumption data and the duration characteristics, and the power consumption adjustment module adjusts the power consumption of the positioning device in the excessive energy consumption state according to the excessive power consumption evaluation index and the differential positioning performance factor. According to the embodiment of the invention, the power consumption data generated in the positioning process are collected, processed and quantized, and the power consumption generated by the device is adjusted through the quantized indexes, so that the energy-saving effect of the positioning device is realized, and the running stability of the device is ensured.
The sequence of the embodiments of the invention is only for description and does not represent the advantages or disadvantages of the embodiments. The processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (9)

1. The utility model provides an army's actual soldier's equipment big dipper differential positioning system of fighting, its characterized in that, the system includes: the system comprises an ARM core CPU, an information acquisition module, a power consumption evaluation module, a differential positioning performance evaluation module, an excessive power consumption detection module and a power consumption adjustment module;
the ARM core CPU comprises a radio PA module, and the radio PA module carries out 4G-LTE communication based on a B-Trunc system;
the information acquisition module is used for acquiring first average power consumption of the radio PA module, interference intensity of different positions in a current geographical area, second average power consumption of the ARM core CPU and continuous duration in each positioning state;
the power consumption evaluation module is used for integrating continuous time lengths in all positioning states to obtain a time length sequence; the second average power consumption forms a second average power consumption sequence according to a preset sampling frequency and a preset sampling time period; obtaining an excessive power consumption evaluation index according to the time length sequence and the second average power consumption sequence in the sampling time period;
the differential positioning performance evaluation module is used for obtaining an interference intensity score of the current geographic area according to an interference intensity set consisting of interference intensities of different positions of the current geographic area; obtaining a power consumption difference coefficient according to the first average power consumption at the current positioning position; obtaining a differential positioning performance factor according to the interference intensity score and the power consumption difference coefficient;
the excessive energy consumption detection module is used for obtaining a state index according to the second average power consumption and the continuous duration in the positioning process and judging whether an excessive energy consumption state occurs in the current positioning device according to the state index;
the power consumption adjusting module is used for adjusting the first average power consumption according to the excessive power consumption evaluation index and the differential positioning performance factor when the positioning device is in an excessive power consumption state; and adjusting the second average power consumption according to the differential positioning performance factor.
2. The Beidou differential positioning system for military actual combat equipment according to claim 1, wherein the method for acquiring the interference intensity of different positions in the current geographic area by the information acquisition module comprises the following steps:
and obtaining a geographical grid according to the longitude and latitude of the current geographical area, and taking the drift error of the positioning result in the geographical grid as the interference intensity of each position.
3. The Beidou differential positioning system for military actual combat equipment according to claim 1, wherein the obtaining of the excessive power consumption evaluation index according to the time length sequence and the second average power consumption sequence in the sampling time period comprises:
obtaining the excessive power consumption evaluation index according to an excessive power consumption evaluation index formula, wherein the excessive power consumption evaluation index formula comprises:
Figure 775418DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 99083DEST_PATH_IMAGE002
as the index of the excessive power consumption evaluation,
Figure 550924DEST_PATH_IMAGE003
is a natural constant and is a natural constant,
Figure 116772DEST_PATH_IMAGE004
for the said sequence of durations of time,
Figure 603248DEST_PATH_IMAGE005
as a function of the statistics of the number of sequence elements,
Figure 97814DEST_PATH_IMAGE006
is the largest odd number of the element sequence numbers in the time length sequence,
Figure 269908DEST_PATH_IMAGE007
t 2*i+1 is the first in the time length sequence
Figure 875332DEST_PATH_IMAGE008
2 x i +1 elements of the group,
Figure 216315DEST_PATH_IMAGE009
for a second average power consumption in the second sequence of average power consumptions,
Figure 114739DEST_PATH_IMAGE010
in order to preset the optimal positioning power consumption,
Figure 541172DEST_PATH_IMAGE011
for the first fitting parameter to be the first,
Figure 684708DEST_PATH_IMAGE012
the function is calculated for the mean value,
Figure 378733DEST_PATH_IMAGE013
is a tangent hyperbolic normalization function.
4. The Beidou differential positioning system for military actual combat equipment according to claim 1, wherein the obtaining of the interference intensity score of the current geographical area according to the interference intensity set consisting of the interference intensities of different positions of the current geographical area comprises:
constructing an initial spatial weight matrix according to preset weights at different positions in the current geographic area; constructing an inverse distance model according to Euclidean distances at different positions, and standardizing the initial spatial weight matrix according to the inverse distance model to obtain a spatial weight matrix; and obtaining a z score according to the space weight matrix and the interference intensity set, and negating the z score to obtain the interference intensity score.
5. The Beidou differential positioning system for military actual combat equipment according to claim 1, wherein the power consumption difference coefficient obtained according to the first average power consumption at the current positioning position comprises:
counting the first average power consumption of each position in the current geographic area to obtain a median; and taking an absolute value obtained by subtracting the ratio of the first average power consumption to the median at the current positioning position as a power consumption difference, and obtaining the power consumption difference coefficient according to the power consumption difference.
6. The Beidou differential positioning system for military actual combat equipment according to claim 4, wherein the obtaining of differential positioning performance factors according to the interference intensity scores and the power consumption difference coefficients comprises:
and taking the product of the absolute value of the interference strength score and the power consumption difference coefficient as the differential positioning performance factor.
7. The Beidou differential positioning system for actual combat equipment for troops according to claim 1, wherein the obtaining of the status index according to the second average power consumption and the continuous duration in the positioning process and the judging of whether the current positioning device has an excessive power consumption state according to the status index comprises:
obtaining the status indicator according to a status indicator formula, the status indicator formula comprising:
Figure 480681DEST_PATH_IMAGE014
wherein the content of the first and second substances,
Figure 128831DEST_PATH_IMAGE015
in order to be the status indicator,
Figure 309014DEST_PATH_IMAGE016
for said second average power consumption during the entire positioning,
Figure 624589DEST_PATH_IMAGE010
in order to optimally locate the power consumption,
Figure 366280DEST_PATH_IMAGE017
for the second fitting parameter to be the second fitting parameter,
Figure 265841DEST_PATH_IMAGE012
the function is calculated for the mean value,
Figure 423284DEST_PATH_IMAGE013
is a tangent hyperbolic normalized function,
Figure 826321DEST_PATH_IMAGE018
in order to be a function of the sign,
Figure 4493DEST_PATH_IMAGE019
for the first of said consecutive time periods in the positioning process,
Figure 627235DEST_PATH_IMAGE020
is a standard continuous time period of time,
Figure 680379DEST_PATH_IMAGE021
is the third fitting parameter or parameters, and,
Figure 439388DEST_PATH_IMAGE022
is a maximum function;
and if the state index is a positive value, determining that the current positioning device is in an excessive energy consumption state.
8. The Beidou differential positioning system for military actual combat equipment according to claim 1, wherein the adjusting the first average power consumption according to the excessive power consumption evaluation index and the differential positioning performance factor comprises:
obtaining the adjusted first average power consumption according to a first average power consumption adjustment formula, where the first average power consumption adjustment formula includes:
Figure 54040DEST_PATH_IMAGE023
wherein the content of the first and second substances,
Figure 397034DEST_PATH_IMAGE024
for the adjusted first average power consumption,
Figure 489755DEST_PATH_IMAGE025
as the current positionThe largest of said first average power consumptions during the next entire positioning,
Figure 634429DEST_PATH_IMAGE002
as the index of the excessive power consumption evaluation,
Figure 918517DEST_PATH_IMAGE026
for the purpose of the differential positioning performance factor,
Figure 515852DEST_PATH_IMAGE003
is a natural constant and is a natural constant,
Figure 412264DEST_PATH_IMAGE027
a function is selected for the minimum.
9. The system of claim 1, wherein said adjusting said second average power consumption according to said differential positioning performance factor comprises:
obtaining the adjusted second average power consumption according to a second average power consumption adjustment formula, where the second average power consumption adjustment formula includes:
Figure 214758DEST_PATH_IMAGE028
wherein, the first and the second end of the pipe are connected with each other,
Figure 171213DEST_PATH_IMAGE029
for the adjusted second average power consumption,
Figure 990264DEST_PATH_IMAGE030
to said second average power consumption before adjustment,
Figure 923323DEST_PATH_IMAGE010
the optimal positioning power consumption is preset and the optimal positioning power consumption is preset,
Figure 777009DEST_PATH_IMAGE003
is a natural constant and is a natural constant,
Figure 638786DEST_PATH_IMAGE026
a performance factor is located for the difference.
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