CN117232506A - Military mobile equipment positioning system under complex battlefield environment - Google Patents
Military mobile equipment positioning system under complex battlefield environment Download PDFInfo
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- CN117232506A CN117232506A CN202311023684.2A CN202311023684A CN117232506A CN 117232506 A CN117232506 A CN 117232506A CN 202311023684 A CN202311023684 A CN 202311023684A CN 117232506 A CN117232506 A CN 117232506A
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Abstract
The invention discloses a military mobile equipment positioning system in a complex battlefield environment, which takes an MCU as a core and is matched with hardware equipment, wherein the hardware equipment comprises a six-axis sensor, a 4/5G module, a Beidou module and a power module, an embedded front end part of the system is formed by the modules and components, acquired position information is transmitted to a cloud host through an MQTT protocol by a 4/5G network, and the cloud host enters a MySQL database for storage; the mobile terminal and the Web terminal call data through a service port of the cloud host when needed. The method has the advantages of strong conception innovation, changing the traditional positioning tracking operation mode, improving the positioning precision by fusing an optimal calculation method and a deep neural network model, intelligently judging and reducing the positioning error, and being capable of being continuously used when satellite signals are lost by matching high-precision information with inertial navigation.
Description
Technical Field
The invention relates to the technical field of communication and simulation training, in particular to a military mobile equipment positioning system in a complex battlefield environment.
Background
With the continuous development of communication technology, army informatization construction is becoming perfect, and requirements on positioning accuracy of military mobile equipment in a complex battlefield environment are also becoming higher, and currently, the main navigation modes mainly comprise a satellite navigation system and an inertial navigation system.
The satellite navigation system has the advantages of realizing global, all-weather and high-precision navigation and the like; however, the satellite navigation system is easily affected by the surrounding environment, such as a tree building, and the like, so that the accuracy of the positioning result is reduced or even lost, and the satellite navigation system is basically unavailable in the indoor environment such as a tunnel. In addition, even in an open environment, when the carrier speed is very low, a large error occurs in the satellite navigation system obtaining the carrier azimuth information (heading angle).
Inertial navigation is based on Newton's law of mechanics, and by measuring acceleration of the carrier in an inertial reference system, integrating it over time and transforming it into navigation coordinates, information such as speed, yaw angle and position in the navigation coordinates can be obtained, and carrier information of the carrier can be obtained. However, due to the serious zero drift and accumulated drift of the gyroscope and the vibration of mobile equipment, the inertial navigation system cannot obtain high-precision azimuth and speed information through direct integral acceleration, namely the existing micro inertial navigation system is difficult to independently work for a long time.
Aiming at the defects of the existing system and the complexity of the battlefield environment, the invention provides a military mobile equipment positioning system under the complex battlefield environment for improving the positioning precision of the military mobile equipment under the complex road conditions such as tunnels, dense forests, urban complex roads and the like.
Disclosure of Invention
The invention aims to solve the existing problems and provides a military mobile equipment positioning system in a complex battlefield environment.
The invention is realized by the following technical scheme: the positioning system takes an MCU as a core and is matched with hardware equipment to comprise a six-axis sensor, a 4/5G module, a Beidou module and a power module, an embedded front end part of the system is formed by the modules and the components, collected position information is transmitted to a cloud host through an MQTT protocol by a 4/5G network, and the cloud host enters a MySQL database for storage; the mobile terminal and the Web terminal call data through a service port of the cloud host when needed, wherein the interface of the mobile terminal mainly has functions of equipment position acquisition, equipment track inquiry and the like, and the Web terminal not only has functions of checking positions and tracks, but also can uniformly manage various mobile equipment.
The calculation method of the military mobile equipment positioning system in the complex battlefield environment utilizes the advantages of an inertial navigation system and a Beidou navigation system, and combines the two algorithms of an optimal calculation method and a deep neural network model to construct a combined positioning algorithm so as to obtain an optimal positioning result; and the Beidou navigation system and the inertial navigation system are integrated, so that a receiver in the Beidou navigation system and the inertial navigation system work in a mutually auxiliary mode.
The working principle of the military mobile equipment positioning system in the complex battlefield environment is as follows: the pseudo range and the pseudo range rate obtained through the measurement of the Beidou navigation system are compared with the position and speed information obtained through the calculation of the inertial navigation system, the difference value of the pseudo range and the pseudo range rate is used as a measured value and is processed through a combined positioning algorithm, the error amount of the inertial navigation system and the Beidou navigation system is calculated, and then feedback correction is carried out on the two systems; positioning accuracy in this way is higher than for position/velocity combinations; especially when the Beidou navigation system cannot work, the inertial navigation system is utilized to enable the Beidou navigation system to work continuously, so that the normal work of the positioning system is ensured, and the stability and reliability of the positioning system are improved.
As a further improvement to the above solution, the initialization procedure of the combined positioning: the inertial navigation system has no initial information, and the initial position, the speed direction and other information of the inertial navigation system must be copied to the Beidou navigation system, so that mobile equipment is required to be started to complete initialization of combined positioning;
as a further improvement to the above solution, the error solution of the combined positioning: the combined positioning system obtains a three-dimensional position, a three-dimensional speed and a yaw angle by using the Beidou navigation system and the inertial navigation system, namely, solves the three-dimensional gesture, the three-dimensional acceleration and the three-dimensional angular speed of inertial navigation, the errors belong to white noise, the errors randomly change along with time, and the optimal solution can be obtained by solving and updating in real time through a combined positioning algorithm.
As a further improvement to the above solution, the training time of the combined positioning: the combined positioning system needs to solve various errors of the inertial navigation system through the Beidou navigation system, so that a training process is needed, namely, the high-quality Beidou navigation system is used for training the performance of the inertial navigation system, so that the inertial navigation system can estimate the self errors, and if the training time is short, the good performance cannot be realized.
Compared with the prior art, the invention has the following advantages: (1) software algorithm: the optimal estimation algorithm and the deep neural network model are fused to construct a combined positioning algorithm, so that the positioning accuracy is improved from the algorithm level;
(2) Intelligent discrimination: the system can automatically identify and isolate big dipper data with larger errors, and positioning errors caused by the error data are reduced to the greatest extent;
(3) Inertial odometer: high-precision positioning of the mobile equipment is realized by using pure inertial navigation assistance;
(4) Positioning technology: real-time high-precision equipment positioning information is provided through a combined positioning algorithm, and when the signal precision of a Beidou system is reduced or even satellite signals are lost, a pure inertial navigation technology is utilized, so that a mobile equipment carrier can be independently positioned with high precision for a long time, and the accurate positioning of the mobile equipment is ensured so as to realize real-time monitoring of the equipment.
Drawings
Fig. 1 is a schematic view of the overall framework of the present invention.
Fig. 2 is a mobile-side and Web-side operating mechanism.
Fig. 3 is a flowchart of the present description.
FIG. 4 is a diagram showing several types of information about acquired satellites, including data on satellite number, signal strength, overall horizontal dilution accuracy, etc.;
fig. 5 is a transmission process of mapping two ports of a 18083 web page management end and a 1883 port for transmitting a longitude and latitude database through peanut shells and visualizing the longitude and latitude;
FIG. 6 is a PCB diagram of a main control circuit board;
FIG. 7 is a first mobile terminal test interface;
FIG. 8 is a second mobile terminal test interface;
FIG. 9 is a Web end test interface;
FIG. 10 is a schematic view of the housing structure of the front end section;
fig. 11 is a schematic view of the structure of the housing cover of the front end portion.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1;
a military mobile equipment positioning system in a complex battlefield environment (figure 1) uses an MCU as a core, and comprises a six-axis sensor, a 4/5G module, a Beidou module and a power module in combination with hardware equipment, wherein an embedded front end part of the system is formed by the modules and the components, and acquired position information is transmitted to a cloud host computer through an MQTT protocol by a 4/5G network and enters a MySQL database for storage; and (2) the mobile terminal and the Web terminal call data through a service port of the cloud host when needed, wherein the interface of the mobile terminal mainly has functions of equipment position acquisition, equipment track inquiry and the like, and the Web terminal not only has functions of checking positions and tracks, but also can uniformly manage various mobile equipment.
A method for calculating a military mobile equipment positioning system in the complex battlefield environment (figure 3): the advantages of an inertial navigation system and a Beidou navigation system are utilized, two algorithms, namely an optimal calculation method and a deep neural network model, are fused, and a combined positioning algorithm is constructed to obtain an optimal positioning result; and the Beidou navigation system and the inertial navigation system are integrated, so that a receiver in the Beidou navigation system and the inertial navigation system work in a mutually auxiliary mode.
The working principle of the military mobile equipment positioning system in the complex battlefield environment is as follows: the pseudo range and the pseudo range rate obtained through the measurement of the Beidou navigation system are compared with the position and speed information obtained through the calculation of the inertial navigation system, the difference value of the pseudo range and the pseudo range rate is used as a measured value and is processed through a combined positioning algorithm, the error amount of the inertial navigation system and the Beidou navigation system is calculated, and then feedback correction is carried out on the two systems; positioning accuracy in this way is higher than for position/velocity combinations; especially when the Beidou navigation system cannot work, the inertial navigation system is utilized to enable the Beidou navigation system to work continuously, so that the normal work of the positioning system is ensured, and the stability and reliability of the positioning system are improved.
As a further improvement to the above solution, the initialization procedure of the combined positioning: the inertial navigation has no initial information, and the initial position, the speed direction and other information of the inertial navigation system must be copied by the Beidou navigation system, so that the front end part is required to be started to finish the initialization of combined positioning;
as a further improvement to the above solution, the error solution of the combined positioning: the combined positioning system obtains a three-dimensional position, a three-dimensional speed and a yaw angle by using the Beidou navigation system and the inertial navigation system, namely, solves the three-dimensional gesture, the three-dimensional acceleration and the three-dimensional angular speed of inertial navigation, the errors belong to white noise, the errors randomly change along with time, and the optimal solution can be obtained by solving and updating in real time through a combined positioning algorithm.
As a further improvement to the above solution, the training time of the combined positioning: the combined positioning system needs to solve various errors of the inertial navigation system through the Beidou navigation system, so that a training process is needed, namely, the high-quality Beidou navigation system is used for training the performance of the inertial navigation system, so that the inertial navigation system can calculate the self errors, and if the training time is short, the good performance cannot be realized.
The use description of the military mobile equipment positioning system in a complex battlefield environment comprises the following steps:
(1) The system supports an adaptive installation algorithm, namely, the system can be installed at will, and the same inertial navigation system positioning effect can be realized; the user needs to fixedly connect a product (a positioning system) and equipment (a front end part), the user is powered on in a static state, an initial static installation angle is acquired firstly, then the mobile equipment (the front end part) is started, and the system recognizes a dynamic installation angle through the movement of acceleration, deceleration and the like of the mobile equipment (the front end part); after the inertial navigation system is identified for a plurality of times, the installation angle is stored in a Flash memory;
(2) After the installation angle is obtained, the product (positioning system) immediately enters an inertial navigation system training state, the mobile equipment (front end part) runs for about 50-90 seconds, the inertial navigation system is successfully trained, the product enters a combined navigation state at the moment, and the mobile equipment (front end part) can enter a region without satellite positioning such as a tunnel, a garage and the like;
(3) In order to ensure that the system can provide a stable mobile equipment (front end part) positioning effect with long-term high reliability, the system has a self-failure checking function, and once the current combined navigation positioning result is confirmed to have a problem, the system immediately performs combined navigation resetting, namely, the position, the speed and the direction of inertial navigation are initialized by reusing the Beidou navigation result.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (3)
1. The military mobile equipment positioning system in the complex battlefield environment comprises a front end part, and is characterized in that the system of the front end part takes an MCU as a core and is matched with hardware equipment; the hardware equipment comprises a six-axis sensor, a 4/5G module, a Beidou module and a power module, wherein the position information acquired by the front part is transmitted to a cloud host through an MQTT protocol by a 4/5G network and enters a MySQL database for storage; the mobile terminal and the Web terminal call data through a service port of the cloud host when needed.
2. The method for calculating the positioning system of the military mobile equipment in the complex battlefield environment according to the claim 1, wherein the advantages of the inertial navigation system and the Beidou navigation system are utilized, and the two algorithms of the optimal calculation method and the deep neural network model are fused to construct a combined positioning algorithm so as to obtain an optimal positioning result; and the Beidou navigation system and the inertial navigation system are integrated, so that the receiver of the Beidou navigation system and the inertial navigation system work in a mutually auxiliary mode.
3. The operational principle of a military mobile equipment positioning system in a complex battlefield environment of claim 1: the pseudo range and the pseudo range rate obtained through the measurement of the Beidou navigation system are compared with the position and speed information obtained through the calculation of the inertial navigation system, the difference value of the pseudo range and the pseudo range rate is used as a measured value and is processed through a combined positioning algorithm, the error amount of the inertial navigation system and the Beidou navigation system is calculated, and then feedback correction is carried out on the two systems; positioning accuracy in this way is higher than for position/velocity combinations; especially when the Beidou navigation system in the positioning system cannot work, the inertial navigation system is utilized to enable the navigation system to work continuously.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117991315A (en) * | 2024-04-02 | 2024-05-07 | 中交星宇科技有限公司 | Beidou inertial navigation positioning method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117991315A (en) * | 2024-04-02 | 2024-05-07 | 中交星宇科技有限公司 | Beidou inertial navigation positioning method and system |
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