CN119375827B - Multi-standard navigation positioning method and system based on long base line - Google Patents
Multi-standard navigation positioning method and system based on long base line Download PDFInfo
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- CN119375827B CN119375827B CN202411896709.4A CN202411896709A CN119375827B CN 119375827 B CN119375827 B CN 119375827B CN 202411896709 A CN202411896709 A CN 202411896709A CN 119375827 B CN119375827 B CN 119375827B
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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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
The invention discloses a multi-standard navigation positioning method and system based on a long base line, wherein the method comprises the following steps of S1, sending a ranging inquiry signal according to a preset period, starting timing, and simultaneously continuously sampling through a plurality of channels, S2, respectively demodulating each sampling signal, closing a current channel according to a correlation coefficient between a demodulation operation result and a standard signal original code, and outputting delay information S3 of a current ID beacon, namely converting the delay information into the distance between the current ID beacon and a main control beacon, S4, obtaining the coordinates of a target ID beacon and the distance between the target ID beacon and the main control beacon, and solving the position information of the main control beacon, wherein the target ID beacon is four ID beacons with the minimum distance from the main control beacon, and S5, storing the delay information obtained after each ranging inquiry signal is sent. The method of the invention can improve the continuity of positioning and reduce the influence of multipath effect and the increase of the inclined distance.
Description
Technical Field
The invention relates to the technical field of underwater positioning, in particular to a multi-standard navigation positioning method and system based on a long base line.
Background
The long-baseline navigation positioning system of the LBL is one of the positioning means commonly used in the ocean because of the high positioning precision, and is widely applied to deep sea AUV positioning tracking, ocean engineering construction, ROV positioning and accurate positioning scenes of various seabed equipment, thereby guaranteeing seabed safety operation and construction efficiency.
However, the positioning accuracy of the conventional long baseline positioning system is affected by signal propagation, especially when in long-distance positioning, the signal attenuation causes that the individual ID beacons do not respond, i.e. lose the distance information, and further the current position information cannot be calculated, so that the conventional long baseline positioning has a limited acting distance, and the long-distance positioning continuity cannot be ensured. On the other hand, due to the influence of environmental factors, the technical problems of multipath effect and increased slant distance exist, and the positioning accuracy is further influenced.
In view of this, the invention is specifically proposed.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a multi-standard navigation positioning method and system based on a long base line, which can improve the positioning continuity and reduce the influence of multipath effect and slope distance increase.
In order to achieve the above purpose, the present invention further adopts the following technical scheme:
A multi-standard navigation positioning method based on a long base line comprises the following steps:
S1, sending a ranging inquiry signal according to a preset period, starting timing, and continuously sampling through a plurality of channels at the same time;
s2, respectively carrying out demodulation operation on each sampling signal, closing a current channel according to the correlation coefficient between the demodulation operation result and the standard signal original code, and outputting delay information of a current ID beacon;
S3, converting the time delay information into the distance between the current ID beacon and the main control beacon;
S4, acquiring coordinates of a target ID beacon and the distance between the target ID beacon and a main control beacon, and solving the position information of the main control beacon, wherein the target ID beacon is four ID beacons with the minimum distance with the main control beacon;
s5, storing time delay information acquired after each ranging inquiry signal is sent.
Further, the step S4 includes the steps of:
S41, judging whether the distances between the target ID beacon and the main control beacon are obtained, if so, executing S42, and if not, executing S43;
s42, solving the coordinates of the main control beacon according to the coordinates of the target ID beacon and the distance between the target ID beacon and the main control beacon, and converting the coordinates of the main control beacon into longitude and latitude;
S43, judging whether the number of the unanswered target ID beacons is 1, if so, executing S44, otherwise, executing S45;
s44, compensating the distance between the target ID beacon lost in the current sampling period and the main control beacon according to the data of the t-1 and t-2 sampling periods;
s45, sending out prompt information.
Further, the step S44 includes the steps of:
S441, calculating the distance between the unanswered target ID beacon and the master beacon according to the following formula:
ri,t＝ri,t-1+λ×Δt×vi
In the formula, r i,t is the distance between the target ID beacon which is not responded in the current sampling period and the master control beacon, r i,t-1 and r i,t-2 are the distances between the previous period and the two periods of the target ID beacon which is not responded in the current sampling period and the master control beacon respectively, lambda is +1 or-1, and Deltat is the period for sending the ranging inquiry signal.
Further, the step S2 includes the steps of:
S21, demodulating the sampling signal;
s22, closing the current channel and outputting the time delay information of the current ID beacon according to the correlation coefficient between the demodulation operation result and the standard signal original code.
Further, the step S21 includes the steps of:
s211, amplifying and filtering the sampling signal;
S212, taking 2048 digital signals as a group of digital signals after AD conversion, entering an FPGA internal fast Fourier transform IP core, and obtaining 2048 frequency domain signals x (m) through calculation;
s213, finding the position of 11k and the position of 14k in the bandwidth of the ID signal according to the following formula:
In the formula, N is the number 2048 of points of Fourier transformation, m 1 is the 11k signal position in the bandwidth, m 2 is the 14k signal position in the bandwidth, fc 1 is 11k, fc 2 is 14k, and fs is the signal sampling rate 50k;
s214, extracting data from x (m 1) to x (m 2) in the bandwidth of the ID signal, and performing demodulation operation by the following formula:
in the formula, x (m) is an actually acquired signal, and y (m) is a standard ID signal original code.
Further, the step S22 includes the steps of:
S221, judging whether the correlation coefficient between the demodulated signal and the standard ID signal original code is larger than 0.4, if so, executing S222, otherwise, returning to S21;
s222, stopping the channel timing, and calculating the whole time consumption of the ID signal corresponding to the channel, namely the time delay information of the ID beacon corresponding to the ID signal.
In order to achieve the above purpose, the present invention further adopts the following technical scheme:
A long baseline based multi-standard navigational positioning system, comprising:
the method comprises the steps of setting a plurality of main control beacons on a submersible, setting a plurality of response beacons on the water bottom, and connecting the PS end with the main control beacons in a communication way, wherein the main control beacons execute the S1-S3 of any one of the methods provided by the invention, and the PS end executes the S4-S5 of any one of the methods provided by the invention.
Compared with the prior art, the invention has the beneficial effects that:
1. And storing the time delay information obtained after each ranging query signal is sent, and compensating the lost distance information according to the stored data when the individual ID beacons do not answer, namely the distance information is lost, so that the positioning continuity can be improved.
2. And starting timing after sending the ranging inquiry signal, continuously sampling through a plurality of channels, and closing receiving after each channel receives the corresponding ID signal, so that the multipath interference can be prevented.
3. The multi-response beacon is arranged to reduce the slant distance, and four response beacons nearest to the main control beacon participate in positioning calculation, so that the influence of the increase of the slant distance is reduced, and the service area of long baseline positioning is increased.
Drawings
FIG. 1 is a block diagram of a long baseline based multi-standard navigational positioning system;
FIG. 2 is a flow chart of a multi-standard navigation positioning method based on a long baseline;
FIG. 3 is a schematic diagram of multi-standard navigation positioning based on long baselines.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Embodiment one:
The system of the embodiment can be based on the navigation system shown in fig. 1, and the navigation system is applied to positioning of a submersible, and comprises a main control beacon, a response beacon and a PS end, wherein the main control beacon is arranged on the submersible, a plurality of response beacons (ID beacons) are arranged at the bottom of the water, and the PS end is in communication connection with the main control beacon.
As shown in fig. 2, the long baseline-based multi-standard navigation positioning method includes the following steps:
S1, sending a ranging inquiry signal according to a preset period, starting timing, and continuously sampling through a plurality of channels.
In this embodiment, the master beacon performs S1 and subsequent S2 and S3, and starts timing to acquire delay information while the master beacon transmits a ranging query signal each time in S1.
In this embodiment, after the master control beacon transmits the ranging query signal according to the preset period, each ID beacon transmits its own ID signal immediately after receiving the ranging query signal, and in addition, the master control beacon continuously samples through a multi-channel (such as ADC) at the same time to obtain the ID signal transmitted by each ID beacon, that is, the sampling signal.
And S2, respectively carrying out demodulation operation on each sampling signal, closing the current channel according to the correlation coefficient between the demodulation operation result and the standard signal original code, and outputting the delay information of the current ID beacon.
In this embodiment, S2 is a processing procedure of a signal collected by a single signal channel, and after S2 is executed, the current channel is closed, and delay information of an ID beacon corresponding to the signal collected by the channel is output. It is to be understood that the signals acquired by the channels all perform S2.
In this embodiment, the current ID beacon is the ID beacon corresponding to the current channel.
And S3, converting the time delay information into the distance between the current ID beacon and the main control beacon.
In this embodiment, the distance between the current ID beacon and the master beacon may be calculated by the following formula:
In the formula, L i is the distance between the current ID beacon and the main control beacon, τ i is the time delay information of the current ID beacon, and c is the average sound velocity of the current sea area.
And S4, acquiring coordinates of a target ID beacon and the distance between the target ID beacon and a main control beacon, and solving the position information of the main control beacon, wherein the target ID beacon is four ID beacons with the minimum distance with the main control beacon.
S5, storing time delay information acquired after each ranging inquiry signal is sent.
According to the multi-standard navigation positioning method based on the long base line, time delay information obtained after each ranging query signal is sent is stored, when an individual ID beacon does not answer, namely the distance information is lost, the lost distance information is compensated according to stored data, and therefore the positioning continuity can be improved.
According to the multi-standard navigation positioning method based on the long base line, timing is started after a ranging query signal is sent, meanwhile, continuous sampling is carried out through multiple channels, and receiving is stopped after each channel receives a corresponding ID signal, so that multipath interference can be prevented.
According to the multi-standard navigation positioning method based on the long base line, the multi-response beacon is arranged to reduce the slant distance, and the four response beacons closest to the main control beacon participate in positioning calculation, so that the influence of the increase of the slant distance is reduced, and the service area of the long base line positioning is increased.
In summary, the multi-standard navigation positioning method based on the long baseline reduces the influence of multipath effect and increased slant distance in the traditional long baseline positioning, and further the positioning accuracy of the multi-standard navigation positioning method can finish positioning in a larger ocean area.
In an alternative embodiment, said S4 comprises the steps of:
S41, judging whether the distances between the target ID beacon and the main control beacon are obtained, if yes, executing S42, and if not, executing S43.
S42, solving the coordinates of the main control beacon according to the coordinates of the target ID beacon and the distance between the target ID beacon and the main control beacon, and converting the coordinates of the main control beacon into longitude and latitude.
S43, judging whether the number of the unanswered target ID beacons is 1, if yes, executing S44, otherwise executing S45.
And S44, compensating the distance between the target ID beacon lost in the current sampling period and the master control beacon according to the data of the t-1 and t-2 sampling periods.
S45, sending out prompt information.
In this alternative embodiment, when the target ID beacons are both acknowledged, the coordinates of the master beacon are directly solved, and when 1 target beacon is not acknowledged, the distance between the target ID beacon and the master beacon, which are not acknowledged in the current sampling period, is compensated according to the data of two sampling periods before the current sampling period (the data refer to the distance between the target ID beacon and the master beacon), so that the positioning continuity can be improved.
In this alternative embodiment, referring to fig. 3, after the ID beacons are arranged, three adjacent ID beacons can be determined, in the navigation positioning stage, the master control beacon is necessarily located in the space range of the quadrangle defined by the four ID beacons, the distance between the master control beacon and the four ID beacons is the smallest, the four ID beacons are the target ID beacons of the current period, in addition, in the navigation positioning stage, after the master control beacon receives the four distances from the ID beacons, whether the four ID beacons are adjacent or not can be known, if so, the four ID beacons are the target ID beacons, if so, the four ID beacons are represented, otherwise, S43-S45 are executed.
In this alternative embodiment, in FIG. 3, positions 1 and 2 refer to the positions of the t-1 and t-2 sample time master beacons, respectively, and position 3 refers to the position of the current sample time master beacon.
In this alternative embodiment, when the lost data is too much to compensate, a prompt message is sent, and other means are used for compensating navigation, such as inertial navigation.
In an alternative embodiment, said S44 includes the steps of:
S441, calculating the distance between the unanswered target ID beacon and the master beacon according to the following formula:
ri,t＝ri,t-1+λ×Δt×vi
In the formula, r i,t is the distance between the target ID beacon which is not responded in the current sampling period and the master control beacon, r i,t-1 and r i,t-2 are the distances between the previous period and the two periods of the target ID beacon which is not responded in the current sampling period and the master control beacon respectively, lambda is +1 or-1, and Deltat is the period for sending the ranging inquiry signal.
In this alternative embodiment, the value of λ is determined by the following procedure:
s442, calculating Deltar 1、△r2、△r3 and Deltar 4 according to the following formula:
△r1＝r1,t-1-r1,t-2
△r2＝r2,t-1-r2,t-2
△r3＝r3,t-1-r3,t-2
△r4＝r4,t-1-r4,t-2
In the formula, r 1、r2、r3 and r 4 are the distances between the target ID beacons in the upper left corner, lower right corner and upper right corner of the master beacon and the master beacon, respectively.
S443, judging the moving direction of the current sampling period of the main control beacon according to the following table:
When the moving direction of the current sampling period is the same as the historical moving direction, lambda is +1, when the moving direction of the current sampling period is different from the historical moving direction, lambda is-1, when the moving direction of the current sampling period cannot be judged, two r i,t values are calculated, the coordinates of the main control beacon are solved through Gauss Newton iteration according to the two r i,t values at S42, and the solution which can be converged or can be converged quickly is taken as the coordinates of the main control beacon.
In an alternative embodiment, the step S2 includes the steps of:
S21, demodulating the sampling signal;
s22, closing the current channel and outputting the time delay information of the current ID beacon according to the correlation coefficient between the demodulation operation result and the standard signal original code.
In an alternative embodiment, the step S21 includes the steps of:
And S211, amplifying and filtering the sampling signal.
And S212, taking 2048 digital signals as a group of digital signals after AD conversion, entering an FPGA internal fast Fourier transform IP core, and obtaining 2048 frequency domain signals x (m) through calculation.
S213, finding the position of 11k and the position of 14k in the bandwidth of the ID signal according to the following formula:
In the formula, N is the number of points 2048 of fourier transform, m 1 is the 11k signal position in bandwidth, m 2 is the 14k signal position in bandwidth, fc 1 is 11k, fc 2 is 14k, and fs is the signal sampling rate 50k.
S214, extracting data from x (m 1) to x (m 2) in the bandwidth of the ID signal, and performing demodulation operation by the following formula:
in the formula, x (m) is an actually acquired signal, and y (m) is a standard ID signal original code.
In an alternative embodiment, the step S22 includes the steps of:
S221, judging whether the correlation coefficient between the demodulated signal and the standard ID signal original code is larger than 0.4, if so, executing S222, otherwise, returning to S21;
s222, stopping the channel timing, and calculating the whole time consumption of the ID signal corresponding to the channel, namely the time delay information of the ID beacon corresponding to the ID signal.
In this alternative embodiment, the delay information refers to the time period between the time point when the navigation system transmits the ranging query signal to the time point when the timer is stopped at S222.
Embodiment two:
A multi-standard navigation positioning system based on a long base line comprises a main control beacon, a response beacon and a PS end, wherein the main control beacon is arranged on a submersible, the response beacons are arranged at the bottom of the water, the PS end is in communication connection with the main control beacon, the main control beacon executes S1-S3 of the embodiment method, and the PS end executes S4-S5 of the embodiment method.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
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