CN116170748B - Space-time reference distribution method based on autonomous navigation time keeping system - Google Patents
Space-time reference distribution method based on autonomous navigation time keeping system Download PDFInfo
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/0055—Synchronisation arrangements determining timing error of reception due to propagation delay
- H04W56/006—Synchronisation arrangements determining timing error of reception due to propagation delay using known positions of transmitter and receiver
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- 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
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Abstract
According to the space-time reference distribution method based on the autonomous navigation time keeping system, the high-precision autonomous navigation system and the autonomous time keeping system are arranged on the lift-off platform, the autonomous navigation system can accumulate and determine the position of the autonomous navigation system and the position of each point on the ground according to the starting point coordinates and the inertia quantity in the precession process, and the autonomous time keeping system can accumulate and determine the moment in real time according to the starting point time and the time in the precession process; on the premise of determining the space-time reference of the lift-off platform, the lift-off platform transmits position coordinates and time references to targets in a certain range on the ground through a laser communication means, and distributes the space-time reference to ground maneuvering targets. The invention can effectively combine the high-precision characteristic of the autonomous navigation time service system and the anti-electromagnetic interference characteristic of laser communication, and can provide a time and space reference standard for emergency rescue in extreme environments.
Description
Technical Field
The invention belongs to the interdisciplines of laser communication, quantum sensing and navigation positioning time service, in particular to a method for completing autonomous navigation time service of a lift-off platform by utilizing an ultra-high precision inertial navigation system and a time keeping system and realizing space-time reference distribution of ground maneuvering targets by laser communication, and particularly relates to a space-time reference distribution method based on the autonomous navigation time keeping system.
Background
As an information carrier, the light wave has the advantages of long transmission distance, large information capacity, electromagnetic interference resistance and the like, and has important application value in the aspects of all-optical communication, time synchronization, navigation positioning and the like. The most widely applied all-optical communication is mainly divided into optical fiber communication and free space laser communication according to channels, wherein the optical fiber communication is a main means for large-capacity data transmission of a fixed communication network, the communication link can be established only by the two parties of communication through the mutual viewing field of a tracking device, the communication link is greatly influenced by the weather condition, and the communication link is usually used as a supplementary means for microwave wireless communication to realize efficient transmission under the condition of strong electromagnetic interference. On the other hand, according to the different application modes of the optical wave, the navigation positioning and time synchronization can be subdivided into a physical measurement type and an information transmission type, wherein the physical measurement type is used for realizing the navigation positioning time service function through physical means such as optical interference, pulse counting and the like, and the information transmission type is used for compiling position and time information into a message and realizing the navigation positioning time service function through laser communication.
The unmanned aerial vehicle and other lift-off platforms have the advantages of large moving range, high flexibility and the like, and can finish large-range remote control operations such as crop monitoring, pesticide spraying, earthquake-resistant search and rescue and the like. The lift-off platform can also be used as a maneuvering time keeping station and a navigation station to provide space-time reference distribution service for a plurality of maneuvering targets on the ground, and the space-time reference of the lift-off platform is particularly important.
Disclosure of Invention
Aiming at the defects, the technical problem to be solved by the invention is how to mount an autonomous navigation system and an autonomous time keeping system on a lift-off platform, determine real-time position coordinates according to position coordinates at the time of take-off and accumulation of inertia in the autonomous navigation system, determine real-time information according to time reference at the time of take-off and accumulation of time in the autonomous time keeping system, calculate the position coordinates and the time information of each point position on the ground according to the position coordinates and the time information of the self, send navigation positioning time keeping information in a message manner through a laser communication mode, and provide space-time reference distribution guarantee for a plurality of maneuvering targets on the ground.
The invention aims to provide a space-time reference distribution method based on an autonomous navigation time keeping system, which comprises an elevating platform provided with the autonomous navigation system and the autonomous time keeping system, and is characterized in that position coordinates are recorded when the elevating platform takes off, the autonomous navigation system is used for measuring and integrating acceleration and angular acceleration in the flight process, the position coordinates of each point on the ground are determined through calculation, the elevating platform is used for recording time information when taking off, the autonomous time keeping system is used for measuring and integrating time sequence pulses in the flight process, the elevating platform is used for determining time information through calculation, the elevating platform compiles the position coordinates and the time information of each point on the ground into information messages, and the information messages are sent to ground maneuvering nodes in a laser communication mode, so that space-time reference distribution of the maneuvering nodes is realized.
Preferably, the autonomous navigation system selects a high-precision atomic gyroscope and an optical accelerometer, and the autonomous time keeping system selects a high-precision optical clock.
Preferably, the above-mentioned lift-off platform confirms the self position coordinate when taking off, and carry on a time synchronization with fixed communication network, then autonomous navigation system and autonomous time keeping system begin to work, autonomous navigation system accumulate angular velocity and angular acceleration produced in the course of movement, confirm the real-time coordinate through the initial coordinate.
Preferably, the autonomous timekeeping system accumulates time delays during movement, and determines the real-time moment by the starting moment.
Preferably, if the lift-off platform can establish a communication interconnection relationship with the ground station, the lift-off platform can also periodically receive space-time reference information sent by the ground station until the communication interconnection is disconnected and the lift-off platform is completely dependent on an autonomous navigation time keeping system.
Preferably, the method specifically comprises the following steps:
s1, carrying an autonomous navigation system and an autonomous time keeping system on an elevating platform;
s2, acquiring position coordinates and time information before taking off by the lift-off platform, wherein after the lift-off platform lifts off, the autonomous navigation system integrates angular acceleration and acceleration into angular velocity and velocity once and further integrates the angular velocity and the velocity into direction and distance information twice, and acquires real-time position through calculation, and the autonomous timekeeping system determines the time information according to the accumulation condition of clock signals;
s3, the lift-off platform measures position coordinates of all the points on the ground through a radar, and sends navigation positioning time service information to a plurality of maneuvering platforms on the ground through a laser communication mode, so that free space time reference distribution is completed.
Preferably, after the lift-off platform is lifted off, if the lift-off platform can still be connected to a ground fixed space-time reference distribution station and the space-time reference precision of the fixed space-time reference distribution station is higher, the lift-off platform performs position approval and time synchronization with the fixed space-time reference distribution station according to a certain period, otherwise, the position coordinate and time information are determined by means of an autonomous navigation time keeping system.
Preferably, the lift-off platform determines the position coordinates of all the points on the ground through measurement, compiles navigation positioning information according to certain positioning precision, and compiles navigation positioning time-giving messages by adding time information.
Preferably, the lift-off platform transmits a message to each maneuvering target on the ground through a laser communication system, wherein the targets in the same grid receive the same positioning information; or one-time coverage of the whole grid is realized by means of optical beam expansion and optical field homogenization.
The present invention provides a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the above method.
Compared with the prior art, the invention has the following advantages:
firstly, the invention provides the lift-off type space-time reference distribution station based on the high-precision autonomous navigation system and the autonomous time keeping system, and the design method for moving the ground navigation time service station to the aviation environment has stronger flexibility and relatively controllable equipment cost;
secondly, the autonomous navigation system and the autonomous timekeeping system provided by the invention can still maintain the resolving power of the position coordinates and the time information of the autonomous navigation system and the autonomous timekeeping system under the information island condition (namely, the autonomous navigation system and the autonomous timekeeping system cannot be connected to any ground fixed space-time reference distribution station);
finally, the invention provides a technical scheme for space-time reference distribution by a laser communication mode, which can be used as an important supplement of global positioning and navigation systems such as GPS and has controllability under strong electromagnetic interference environments such as solar activities.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are needed to be used in the embodiments of the present invention will be briefly described, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram showing an embodiment of a space-time reference distribution method based on an autonomous navigation time keeping system of the present invention;
FIG. 2 illustrates a schematic diagram of a particular embodiment of a space-time reference distribution method based on an autonomous navigation timekeeping system of the present invention;
FIG. 3 shows a schematic diagram of another embodiment of the space-time reference distribution method based on the autonomous navigation timekeeping system of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely configured to illustrate the invention and are not configured to limit the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the invention by showing examples of the invention.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
As shown in fig. 1, the present invention provides an embodiment of a space-time reference distribution method based on an autonomous navigation time keeping system, including:
s101, determining a position coordinate of a lift-off platform, recording the position coordinate when the lift-off platform takes off, measuring and integrating acceleration and angular acceleration through an autonomous navigation system in the flight process, determining the position coordinate of the lift-off platform through calculation, and determining the position coordinate of each point on the ground through calculation;
s102, determining the moment of the lift-off platform, recording moment information when the lift-off platform takes off, measuring and integrating time sequence pulses through an autonomous time keeping system in the flight process, and determining the moment information through calculation;
s103, space-time reference distribution, namely compiling position coordinates and time information of all the points on the ground into information messages by the lift-off platform, and sending the information messages to ground maneuvering nodes in a laser communication mode to realize space-time reference distribution of the maneuvering nodes.
In some embodiments, the autonomous navigation system employs a high-precision atomic gyroscope and an optical accelerometer, and the autonomous timekeeping system employs a high-precision optical clock.
In some embodiments, the lift-off platform determines its own position coordinates when taking off, performs time synchronization with the fixed communication network once, and then starts working with the autonomous navigation system and the autonomous time keeping system, and the autonomous navigation system accumulates angular velocity and angular acceleration generated during the movement process, and determines the real-time coordinates through the initial coordinates.
In some embodiments, the autonomous timekeeping system accumulates time delays during movement, and the real-time instant is determined by the starting instant.
In some embodiments, if the lift-off platform is capable of establishing a communication interconnection relationship with the ground station, the space-time reference information sent by the ground station may also be received periodically until the communication interconnection is disconnected and the autonomous navigation time keeping system is completely relied on.
As shown in fig. 2, the embodiment further provides a space-time reference distribution method based on an autonomous navigation time keeping system, which comprises the following implementation steps:
1. the lift-off platform carries an autonomous navigation system and an autonomous timekeeping system, and preferably, the autonomous navigation system can select a high-precision atomic gyroscope and an optical accelerometer to ensure that the measurement precision and stability are optimal, and the autonomous timekeeping system can select a light clock with highest precision;
2. determining the position coordinates of the lift-off platform when the lift-off platform takes off, performing one-time synchronization with a fixed communication network, then starting the autonomous navigation system and the autonomous time keeping system to work, accumulating the angular speed and the angular acceleration generated in the motion process by the autonomous navigation system, and determining the real-time coordinates through the initial coordinates; the autonomous time keeping system accumulates time delay in the motion process and determines real-time moment through the initial moment; if the lift-off platform can establish a communication interconnection relation with the ground station, the lift-off platform can also periodically receive space-time reference information sent by the ground station until the communication interconnection is disconnected and completely depends on an autonomous navigation time keeping system;
3. the lift-off platform determines the position coordinates of all the points on the ground through measurement, compiles navigation positioning information according to a certain positioning precision (namely, the position coordinates in a certain area range are determined to be the same numerical value like a mosaic), and simultaneously compiles navigation positioning time-giving message by adding time information (compensating tiny time delay generated in the light wave transmission process in advance);
4. the lift-off platform transmits the message to all maneuvering targets on the ground through a laser communication system, wherein the targets in the same grid receive the same positioning information; one-time coverage of the entire grid can also be achieved by means of optical beam expansion and light field homogenization.
As shown in fig. 3, this embodiment illustrates an embodiment of a space-time reference distribution method based on an autonomous navigation time keeping system, which specifically includes:
s201, an autonomous navigation system and an autonomous timekeeping system are carried on a lift-off platform, wherein the autonomous navigation system can be selected from a high-precision atomic gyroscope, an optical and a speedometer to ensure that the precision and the stability are optimal, and the autonomous timekeeping system can be selected from a light clock with the highest precision;
s202, acquiring position coordinates and time information before taking off by the lift-off platform, wherein after the lift-off platform lifts off, the autonomous navigation system integrates angular acceleration and acceleration into angular velocity and velocity once and further integrates the angular velocity and the velocity into direction and distance information twice, and acquires real-time position through calculation, and the autonomous timekeeping system determines the time information according to the accumulation condition of clock signals;
s203, the lift-off platform measures the position coordinates of all the points on the ground through means such as radar, and sends navigation positioning time service information to a plurality of maneuvering platforms on the ground through a laser communication mode, so that the distribution of the free space time reference is completed.
In some embodiments, the acquisition in S202 includes, but is not limited to, one time location approval and time synchronization with the local fixed space-time reference distribution station.
In some embodiments, after the lift-off platform is lifted off, if the lift-off platform can still be connected to the ground fixed space-time reference distribution station and the space-time reference precision of the fixed space-time reference distribution station is higher, the lift-off platform performs position approval and time synchronization with the fixed space-time reference distribution station according to a certain period, otherwise, the position coordinate and time information are determined by means of the autonomous navigation time keeping system.
The invention also provides an embodiment of a space-time reference distribution method based on the autonomous navigation time keeping system, wherein the high-precision autonomous navigation system and the autonomous time keeping system are arranged on the lift-off platform, the autonomous navigation system can accumulate and determine the position of the autonomous navigation system and the position of each point on the ground according to the starting point coordinates and the inertia quantity in the precession process, and the autonomous time keeping system can accumulate and determine the moment in real time according to the starting point time and the time in the precession process; on the premise of determining the space-time reference of the lift-off platform, the lift-off platform transmits position coordinates and time references to targets in a certain range on the ground through a laser communication means, and distributes the space-time reference to ground maneuvering targets.
In some embodiments, the autonomous navigation system can perform high-precision measurement on physical quantities such as acceleration and angular acceleration, can integrate the acceleration and the angular acceleration twice into direction and position changes, the precision and uncertainty can be reduced until the error accumulation amount in the whole navigation period does not exceed tolerance in advance, the angular velocity measurement can be a high-precision laser gyro or an atomic gyro, and the accelerometer can be an optical accelerometer.
In some embodiments, autonomous navigation systems include, but are not limited to, autonomous inertial navigation modules, laser ranging modules, and the like, without limitation to their specific structure and parameters.
In some embodiments, the autonomous timekeeping system is capable of measuring physical quantities such as time with high accuracy, extremely high time accuracy and extremely low uncertainty, generating a high frequency clock signal and determining the time delay by means of pulse accumulation.
In some embodiments, autonomous timekeeping systems include, but are not limited to, high precision clocks, high precision counters, etc., which may be atomic clocks, optical clocks, etc., without limitation to their specific structure and parameters.
In some embodiments, the two communication parties of the laser communication establish a free space optical link through a tracking system, and the laser pulse signals are used as carriers for communication coding and decoding, so that the communication signals can be stably transmitted under the condition of strong electromagnetic interference, the specific structure, the light source, the detector, the coding protocol and the working band of the laser communication system are not limited, and the information protocol adopted during the networking of the laser communication is not limited.
In some embodiments, the space-time reference distribution central-lift platform acquires position coordinates and time information before taking off, the acquisition mode includes, but is not limited to, primary position approval and time synchronization with a local fixed space-time reference distribution station, after the central-lift platform lifts, an autonomous navigation system integrates angular acceleration and acceleration into angular velocity and speed once and further integrates the angular velocity and speed twice into direction and distance information, real-time position is acquired through calculation, the autonomous time keeping system determines the time information according to the clock signal accumulation condition, after the central-lift platform lifts, if the central-lift platform can still be connected to the ground fixed space-time reference distribution station and the fixed space-time reference distribution station has higher space-time reference precision, the central-lift platform performs position approval and time synchronization with the fixed space-time reference distribution station according to a certain period, otherwise, the autonomous navigation system is relied on to determine the position coordinates and the time information; the lift-off platform measures the position coordinates of all the points on the ground by means of radar and the like, and sends navigation positioning time service information to a plurality of maneuvering platforms on the ground by means of laser communication, so that the distribution of free space time reference is completed.
Compared with the prior art, the invention has the following advantages:
firstly, the invention provides the lift-off type space-time reference distribution station based on the high-precision autonomous navigation system and the autonomous time keeping system, and the design method for moving the ground navigation time service station to the aviation environment has stronger flexibility and relatively controllable equipment cost;
secondly, the autonomous navigation system and the autonomous timekeeping system provided by the invention can still maintain the resolving power of the position coordinates and the time information of the autonomous navigation system and the autonomous timekeeping system under the information island condition (namely, the autonomous navigation system and the autonomous timekeeping system cannot be connected to any ground fixed space-time reference distribution station);
finally, the invention provides a technical scheme for space-time reference distribution by a laser communication mode, which can be used as an important supplement of global positioning and navigation systems such as GPS and has controllability under strong electromagnetic interference environments such as solar activities.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present application.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (8)
1. The space-time reference distribution method based on the autonomous navigation time keeping system comprises an elevating platform provided with the autonomous navigation system and the autonomous time keeping system, and is characterized in that position coordinates are recorded when the elevating platform takes off, the autonomous navigation system is used for measuring and integrating acceleration and angular acceleration in the flight process, the position coordinates of each point position on the ground are determined through calculation, time information is recorded when the elevating platform takes off, time information is measured and integrated through the autonomous time keeping system in the flight process, the elevating platform is used for compiling the position coordinates and the time information of each point position on the ground into information messages, the information messages are sent to ground maneuvering nodes in a laser communication mode, and space-time reference distribution of the maneuvering nodes is realized;
the method specifically comprises the following steps:
s1, carrying an autonomous navigation system and an autonomous time keeping system on an elevating platform;
s2, acquiring position coordinates and time information before taking off by the lift-off platform, wherein after the lift-off platform lifts off, the autonomous navigation system integrates angular acceleration and acceleration into angular velocity and velocity once and further integrates the angular velocity and the velocity into direction and distance information twice, and acquires real-time position through calculation, and the autonomous timekeeping system determines the time information according to the accumulation condition of clock signals;
s3, the lift-off platform measures position coordinates of all points on the ground through a radar, and sends navigation positioning time service information to a plurality of maneuvering platforms on the ground in a laser communication mode to finish free space time reference distribution;
the lift-off platform transmits a message to all maneuvering targets on the ground through a laser communication system, wherein the targets in the same grid receive the same positioning information; or one-time coverage of the whole grid is realized by means of optical beam expansion and optical field homogenization.
2. The space-time reference distribution method based on the autonomous navigation time keeping system according to claim 1, wherein the autonomous navigation system is a high-precision atomic gyroscope and an optical accelerometer, and the autonomous time keeping system is a high-precision optical clock.
3. The space-time reference distribution method based on the autonomous navigation time keeping system according to claim 1, wherein the lift-off platform determines its own position coordinates when taking off, performs one time synchronization with the fixed communication network, then the autonomous navigation system and the autonomous time keeping system start to work, the autonomous navigation system accumulates acceleration and angular acceleration generated in the movement process, and determines real-time coordinates through the initial coordinates.
4. The method for distributing space-time references based on an autonomous navigation timekeeping system according to claim 1, wherein the autonomous timekeeping system accumulates time delays during the movement and determines the real-time moment from the start moment.
5. The space-time reference distribution method based on the autonomous navigation time keeping system according to claim 1, wherein if the lift-off platform can establish a communication interconnection relationship with the ground station, the space-time reference information sent by the ground station is periodically received until the communication interconnection is broken, and the space-time reference distribution method is completely dependent on the autonomous navigation time keeping system.
6. The space-time reference distribution method based on the autonomous navigation time keeping system according to claim 5, wherein if the lift-off platform can still be connected to the ground fixed space-time reference distribution station after the lift-off, and the space-time reference precision of the fixed space-time reference distribution station is higher, the position approval and the time synchronization are carried out with the fixed space-time reference distribution station according to a certain period, otherwise, the position coordinates and the time information are determined by the autonomous navigation time keeping system.
7. The space-time reference distribution method based on the autonomous navigation time keeping system according to claim 6, wherein the lift-off platform determines the position coordinates of each point on the ground through measurement, compiles navigation positioning information according to a certain positioning accuracy, and compiles navigation positioning time-giving messages by adding time information.
8. A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the method of any of claims 1-6.
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| GB748641A (en) * | 1950-05-17 | 1956-05-09 | Svenska Aeroplan Ab | Improvements in or relating to navigation apparatus for aircraft |
| CN110515109A (en) * | 2019-08-16 | 2019-11-29 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of method and device merging the autonomous PNT time based on multiple information sources |
| CN114216454A (en) * | 2021-10-27 | 2022-03-22 | 湖北航天飞行器研究所 | Unmanned aerial vehicle autonomous navigation positioning method based on heterogeneous image matching in GPS rejection environment |
| CN115031721A (en) * | 2022-06-24 | 2022-09-09 | 中国科学院空天信息创新研究院 | Radio signal positioning and navigation system and method for space-based platform |
| CN115631587A (en) * | 2022-10-10 | 2023-01-20 | 中国人民解放军军事科学院系统工程研究院 | Method for realizing perimeter safety of closed space based on quantum inertial navigation |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| GB748641A (en) * | 1950-05-17 | 1956-05-09 | Svenska Aeroplan Ab | Improvements in or relating to navigation apparatus for aircraft |
| CN110515109A (en) * | 2019-08-16 | 2019-11-29 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of method and device merging the autonomous PNT time based on multiple information sources |
| CN114216454A (en) * | 2021-10-27 | 2022-03-22 | 湖北航天飞行器研究所 | Unmanned aerial vehicle autonomous navigation positioning method based on heterogeneous image matching in GPS rejection environment |
| CN115031721A (en) * | 2022-06-24 | 2022-09-09 | 中国科学院空天信息创新研究院 | Radio signal positioning and navigation system and method for space-based platform |
| CN115631587A (en) * | 2022-10-10 | 2023-01-20 | 中国人民解放军军事科学院系统工程研究院 | Method for realizing perimeter safety of closed space based on quantum inertial navigation |
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