CN114003848B - Target positioning method, target positioning system, storage medium and electronic equipment - Google Patents
Target positioning method, target positioning system, storage medium and electronic equipment Download PDFInfo
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Abstract
The present invention relates to the field of satellite positioning, and in particular, to a target positioning method, system, storage medium, and electronic device. The method comprises the following steps: step 1, judging whether targets are simultaneously positioned on n satellite base lines or meet a first preset condition, if yes, executing step 2, wherein the satellite base lines are connecting lines between satellites and base stations, and n is more than or equal to 2; step 2, at the current moment, selecting any two star baselines, and establishing a position information geometric model of the target based on the two star baselines; and 3, completing coarse positioning of the target according to the position information geometric model. By the method, when the targets are simultaneously positioned near the base lines between the plurality of groups of GNSS satellites and the ground base station, a shadow effect is utilized to construct a target position information inversion geometric model, preliminary calculation of the target position information is realized, and the problem of target position information blurring in the traditional method is solved.
Description
Technical Field
The present invention relates to the field of satellite positioning, and in particular, to a target positioning method, system, storage medium, and electronic device.
Background
At present, in the satellite positioning field, a research method mainly uses GNSS satellite signals to monitor whether targets appear in a detection area or not in a multi-source single-base mode, but the problem of calculation ambiguity exists in target position information, so that only whether targets exist or not can be detected in the traditional method.
In the traditional method, when a target is positioned near a base line between a signal source and a ground base station, whether the target appears in a detection area or not can be monitored by utilizing satellite signal changes received by the base station, but the problem of blurring of position information of the target itself exists, and effective calculation of height information and longitude and latitude information of the target itself cannot be realized.
Disclosure of Invention
The invention aims to provide a target positioning method, a target positioning system, a storage medium and electronic equipment.
The technical scheme for solving the technical problems is as follows: a target positioning method based on multiple sources and multiple bases comprises the following steps:
Step 1, judging whether targets are simultaneously positioned on n satellite base lines or meet a first preset condition, if yes, executing step 2, wherein the satellite base lines are connecting lines between satellites and base stations, and n is more than or equal to 2;
Step 2, at the current moment, selecting any two star baselines, and establishing a position information geometric model of the target based on the two star baselines;
and 3, completing coarse positioning of the target according to the position information geometric model.
The beneficial effects of the invention are as follows: the method uses GNSS satellite signals as a radiation source, does not emit electromagnetic wave signals, and uses non-cooperative GNSS satellites as the radiation source, thereby having the advantages of rich signal sources, all-day time, all-weather and the like, and having stronger concealment and survivability. Under the multisource mode, when targets are located near base lines between a plurality of groups of GNSS satellites and ground base stations at the same time, a shadow effect is utilized to construct a target position information inversion geometric model, preliminary calculation of target position information is achieved, and the problem of target position information blurring in a traditional method is solved.
On the basis of the technical scheme, the invention can be improved as follows.
Further, the establishing a geometric model of the position information of the target based on the two star baselines includes:
The position information geometric model of the target is constructed with the coordinates S 1(XS1,YS1,ZS1 of the first satellite), the coordinates S 2(XS2,YS2,ZS2 of the second satellite), the coordinates M 1(XM1,YM1 of the first base station), the coordinates M 2(XM2,YM2 of the second base station, the coordinates S '1(XS'1,YS'1 of the point under the satellite of the coordinates S 1 of the first satellite), and the coordinates S' 2(XS'2,YS'2 of the point under the satellite of the coordinates S 2 of the second satellite.
Further, the step 3 specifically includes:
The coordinate (X T',YT') of the projection T ' of the target T on the ground is obtained based on the analytical equations of the S ' 1M1 line and the S ' 2M2 line, and the first calculation formula for obtaining the first height information h of the target according to the triangle Δs 2S'2M2 is as follows:
the coarse positioning coordinates X T,YT, h of the target T are determined based on the first altitude information h of the target.
Further, after the step 3, the method further includes:
Step 4, judging whether star baselines meeting a second preset condition exist at the current moment, if yes, selecting any two star baselines from all the star baselines meeting the second preset condition as any two star baselines selected in the step 2, obtaining the ith height information h i of the target, carrying out average calculation on the i height information, and obtaining the optimized height information of the target Altitude information based on optimized targetsDetermining fine positioning coordinates of a target T
Wherein,
The further scheme has the advantages that under the multi-source multi-base mode, the calculated target position information is optimized by utilizing the advantages of the multi-source information, and the inversion accuracy of the target position information is improved.
The other technical scheme for solving the technical problems is as follows: a multi-source multi-base based target positioning system comprising:
the first judging module is used for judging whether the targets are simultaneously positioned on n satellite base lines or meet a first preset condition, if yes, the establishing module is executed, wherein the satellite base lines are connecting lines between satellites and base stations, and n is more than or equal to 2;
the establishing module is used for selecting any two star baselines at the current moment and establishing a position information geometric model of the target based on the two star baselines;
and the positioning module is used for completing coarse positioning of the target according to the position information geometric model.
The beneficial effects of the invention are as follows: the method uses GNSS satellite signals as a radiation source, does not emit electromagnetic wave signals, and uses non-cooperative GNSS satellites as the radiation source, thereby having the advantages of rich signal sources, all-day time, all-weather and the like, and having stronger concealment and survivability. Under the multisource mode, when targets are located near base lines between a plurality of groups of GNSS satellites and ground base stations at the same time, a shadow effect is utilized to construct a target position information inversion geometric model, preliminary calculation of target position information is achieved, and the problem of target position information blurring in a traditional method is solved.
Further, the establishing a geometric model of the position information of the target based on the two star baselines includes:
The position information geometric model of the target is constructed with the coordinates S 1(XS1,YS1,ZS1 of the first satellite), the coordinates S 2(XS2,YS2,ZS2 of the second satellite), the coordinates M 1(XM1,YM1 of the first base station), the coordinates M 2(XM2,YM2 of the second base station, the coordinates S '1(XS'1,YS'1 of the point under the satellite of the coordinates S 1 of the first satellite), and the coordinates S' 2(XS'2,YS'2 of the point under the satellite of the coordinates S 2 of the second satellite.
Further, the positioning module is specifically configured to:
The coordinate (X T',YT') of the projection T ' of the target T on the ground is obtained based on the analytical equations of the S ' 1M1 line and the S ' 2M2 line, and the first calculation formula for obtaining the first height information h of the target according to the triangle Δs 2S'2M2 is as follows:
the coarse positioning coordinates X T,YT, h of the target T are determined based on the first altitude information h of the target.
Further, the method further comprises the following steps:
A second judging module for judging whether there is a star baseline meeting a second preset condition at the current moment, if yes, selecting any two star baselines from all the star baselines meeting the second preset condition as any two star baselines selected in the establishing module to obtain the ith height information h i of the target, and calculating the average of the i height information to obtain the optimized height information of the target Altitude information based on optimized targetsDetermining fine positioning coordinates of a target T
Wherein,
The further scheme has the advantages that under the multi-source multi-base mode, the calculated target position information is optimized by utilizing the advantages of the multi-source information, and the inversion accuracy of the target position information is improved.
The other technical scheme for solving the technical problems is as follows: a storage medium having instructions stored therein which, when read by a computer, cause the computer to perform a multi-source multi-base based target positioning method as claimed in any one of the preceding claims.
The beneficial effects of the invention are as follows: the method uses GNSS satellite signals as a radiation source, does not emit electromagnetic wave signals, and uses non-cooperative GNSS satellites as the radiation source, thereby having the advantages of rich signal sources, all-day time, all-weather and the like, and having stronger concealment and survivability. Under the multisource mode, when targets are located near base lines between a plurality of groups of GNSS satellites and ground base stations at the same time, a shadow effect is utilized to construct a target position information inversion geometric model, preliminary calculation of target position information is achieved, and the problem of target position information blurring in a traditional method is solved.
The other technical scheme for solving the technical problems is as follows: an electronic device comprising a memory, a processor and a program stored on the memory and running on the processor, the processor implementing a multi-source multi-base based target positioning method as claimed in any one of the preceding claims when executing the program.
The beneficial effects of the invention are as follows: the method uses GNSS satellite signals as a radiation source, does not emit electromagnetic wave signals, and uses non-cooperative GNSS satellites as the radiation source, thereby having the advantages of rich signal sources, all-day time, all-weather and the like, and having stronger concealment and survivability. Under the multisource mode, when targets are located near base lines between a plurality of groups of GNSS satellites and ground base stations at the same time, a shadow effect is utilized to construct a target position information inversion geometric model, preliminary calculation of target position information is achieved, and the problem of target position information blurring in a traditional method is solved.
Drawings
FIG. 1 is a schematic flow chart of a multi-source multi-base-based target positioning method according to an embodiment of the present invention;
FIG. 2 is a block diagram of a multi-source multi-base based object localization system according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a geometric model of position information of a target according to an embodiment of a multi-source multi-base-based target positioning method of the present invention.
Detailed Description
The principles and features of the present invention are described below with examples given for the purpose of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a multi-source multi-base-based target positioning method includes:
Step 1, judging whether targets are simultaneously positioned on n satellite base lines or meet a first preset condition, if yes, executing step 2, wherein the satellite base lines are connecting lines between satellites and base stations, and n is more than or equal to 2;
Step 2, at the current moment, selecting any two star baselines, and establishing a position information geometric model of the target based on the two star baselines;
and 3, completing coarse positioning of the target according to the position information geometric model.
In some possible embodiments, the method uses GNSS satellite signals as a radiation source, does not emit electromagnetic wave signals by itself, and uses non-cooperative GNSS satellites as the radiation source, so that the method has the advantages of rich signal sources, all-day time, all-weather and the like, and has stronger concealment and viability. Under the multisource mode, when targets are located near base lines between a plurality of groups of GNSS satellites and ground base stations at the same time, a shadow effect is utilized to construct a target position information inversion geometric model, preliminary calculation of target position information is achieved, and the problem of target position information blurring in a traditional method is solved.
The first preset condition is that the angle between the target and the satellite base line is 175 to 180 degrees. Multisource multisubstance can be understood as a plurality of base stations and a plurality of satellites. The detailed positioning process can be understood with reference to example 1.
In embodiment 1, a plurality of GNSS satellite signals are selected as radiation sources, and a plurality of ground receiving base stations are deployed on the ground, and the base stations can receive and resolve the GNSS satellite signals in real time. When the target is located near the line between the plurality of sets of satellites and the base station at the same time, the above-mentioned near means located near the line between the satellites and the base station, i.e., the bistatic angle is between 175 and 180 degrees. And establishing a multisource and multisource shadow effect target position information inversion model due to the shadow effect of the target, wherein a plurality of groups of connection lines between a plurality of groups of satellites and a base station refer to two groups and more than two groups.
A geometric model is built as shown in fig. 3. Irrespective of the influence of the curvature of the earth, the coordinates (X S1,YS1,ZS1) of the first satellite S 1, the coordinates (X S2,YS2,ZS2) of the second satellite S 2, the coordinates (X M1,YM1) of the first base station M 1, the coordinates (X M2,YM2) of the second base station M 2, the coordinates (X S'1,YS'1) of the satellite S ' 1 of the first satellite S 1, the coordinates (X S'2,YS'2) of the satellite S ' 2 of the second satellite S 2, the coordinates (X T,YT) of the target T, and the coordinates (X T',YT') of the projection T ' of the target T on the ground are set. The target information of the GNSS satellites may be extracted by extracting GNSS satellite navigation text information received by a ground base station, and the position information of the ground base station may be calculated by using GNSS satellite signals, which are all known information. From the geometric relationship shown in FIG. 3, the analytical equation for the attainable straight line S' 1M1 can be expressed as:
The analytical equation for line S' 2M2 can be expressed as:
the first set of X/Y coordinates of the intersection of two straight lines, i.e. the coordinates (X T',YT') of the projection T' of the target T on the ground, is expressed as:
in triangle Δs 2S'2M2, the following expression can be obtained:
wherein,
The height information h of the available target can be expressed as:
preferably, in any of the above embodiments, step 2 specifically includes:
The position information geometric model of the target is constructed with the coordinates S 1(XS1,YS1,ZS1 of the first satellite), the coordinates S 2(XS2,YS2,ZS2 of the second satellite), the coordinates M 1(XM1,YM1 of the first base station), the coordinates M 2(XM2,YM2 of the second base station, the coordinates S '1(XS'1,YS'1 of the point under the satellite of the coordinates S 1 of the first satellite), and the coordinates S' 2(XS'2,YS'2 of the point under the satellite of the coordinates S 2 of the second satellite.
Preferably, in any of the above embodiments, step3 is specifically:
The coordinate (X T',YT') of the projection T ' of the target T on the ground is obtained based on the analytical equations of the S ' 1M1 line and the S ' 2M2 line, and the first calculation formula for obtaining the first height information h of the target according to the triangle Δs 2S'2M2 is as follows:
the coarse positioning coordinates X T,YT, h of the target T are determined based on the first altitude information h of the target.
It should be noted that S ' 1M1 represents a line between the coordinates S ' 1 of the satellite point of the coordinates S 1 of the first satellite and the coordinates M 1 of the first base station, S ' 2M2 represents a line between the coordinates S ' 2 of the satellite point of the coordinates S 2 of the second satellite and the coordinates M 2 of the second base station, and Δs 2S'2M2 represents a triangle composed of the coordinates S 2 of the second satellite, the coordinates S ' 2 of the satellite point of the coordinates S 2 of the second satellite, and the coordinates M 2 of the second base station.
Preferably, in any of the foregoing embodiments, after the step 3, the method further includes:
Step 4, judging whether star baselines meeting a second preset condition exist at the current moment, if yes, selecting any two star baselines from all the star baselines meeting the second preset condition as any two star baselines selected in the step 2, obtaining the ith height information h i of the target, carrying out average calculation on the i height information, and obtaining the optimized height information of the target Altitude information based on optimized targetsDetermining fine positioning coordinates of a target T
Wherein,
In some possible embodiments, it is determined whether there are any star bases satisfying the second preset condition at the current moment, if there are two or more sets, otherwise, the target position information cannot be calculated. Under the multisource and multisource mode, the calculated target position information is optimized by utilizing the advantages of multisource information, and inversion accuracy of the target position information is improved.
The second preset condition is as follows: and whether the GNSS satellite signals received by other ground base stations exist or not at the same moment has shadow effect characteristics, namely the signal strength is reduced by about 1-3 dB compared with the signal strength under the normal condition. The above procedure can be understood with reference to example 2.
In embodiment 2, a plurality of GNSS satellite signals are selected as radiation sources, and a plurality of ground receiving base stations are deployed on the ground, and the base stations can receive and resolve the GNSS satellite signals in real time. When the targets are simultaneously positioned near the connecting lines between the plurality of groups of satellites and the base station, a multi-source multi-base shadow effect target position information inversion model is built due to the shadow effect of the targets, wherein the plurality of groups in the connecting lines between the plurality of groups of satellites and the base station refer to two groups and more than two groups.
A geometric model is built as shown in fig. 3. Irrespective of the influence of the curvature of the earth, the coordinates (X S1,YS1,ZS1) of the first satellite S 1, the coordinates (X S2,YS2,ZS2) of the second satellite S 2, the coordinates (X M1,YM1) of the first base station M 1, the coordinates (X M2,YM2) of the second base station M 2, the coordinates (X S'1,YS'1) of the satellite S ' 1 of the first satellite S 1, the coordinates (X S'2,YS'2) of the satellite S ' 2 of the second satellite S 2, the coordinates (X T,YT) of the target T, and the coordinates (X T',YT') of the projection T ' of the target T on the ground are set. The target information of the GNSS satellites may be extracted by extracting GNSS satellite navigation text information received by a ground base station, and the position information of the ground base station may be calculated by using GNSS satellite signals, which are all known information. From the geometric relationship shown in FIG. 3, the analytical equation for the attainable straight line S' 1M1 can be expressed as:
The analytical equation for line S' 2M2 can be expressed as:
the first set of X/Y coordinates of the intersection of two straight lines, i.e. the coordinates (X T',YT') of the projection T' of the target T on the ground, is expressed as:
in triangle Δs 2S'2M2, the following expression can be obtained:
wherein,
The height information h of the available target can be expressed as:
assuming that the M sets of satellites/base stations and the target satisfy the geometric relationship as shown in fig. 3, the target altitude information calculated according to the i-th set of satellites and the base station is:
the i-th set of target X/Y coordinate information calculated from the i-th set of satellites and the base station can be expressed as:
average value processing is carried out on the obtained target position information, and the optimized target position information Can be expressed as:
As shown in fig. 2, a multi-source multi-base based object localization system, comprising:
The first judging module 100 is configured to judge whether the targets are located on n satellite base lines at the same time or meet a first preset condition, and if yes, execute the establishing module, where the satellite base lines are connection lines between the satellites and the base stations, and n is greater than or equal to 2;
The establishing module 200 is used for selecting any two star baselines at the current moment, and establishing a position information geometric model of the target based on the two star baselines;
And the positioning module 300 is used for completing coarse positioning of the target according to the position information geometric model.
In some possible embodiments, the method uses GNSS satellite signals as a radiation source, does not emit electromagnetic wave signals by itself, and uses non-cooperative GNSS satellites as the radiation source, so that the method has the advantages of rich signal sources, all-day time, all-weather and the like, and has stronger concealment and viability. Under the multisource mode, when targets are located near base lines between a plurality of groups of GNSS satellites and ground base stations at the same time, a shadow effect is utilized to construct a target position information inversion geometric model, preliminary calculation of target position information is achieved, and the problem of target position information blurring in a traditional method is solved.
Preferably, in any of the foregoing embodiments, the establishing a geometric model of the location information of the target based on the two star baselines includes:
The position information geometric model of the target is constructed with the coordinates S 1(XS1,YS1,ZS1 of the first satellite), the coordinates S 2(XS2,YS2,ZS2 of the second satellite), the coordinates M 1(XM1,YM1 of the first base station), the coordinates M 2(XM2,YM2 of the second base station, the coordinates S '1(XS'1,YS'1 of the point under the satellite of the coordinates S 1 of the first satellite), and the coordinates S' 2(XS'2,YS'2 of the point under the satellite of the coordinates S 2 of the second satellite.
Preferably, in any of the above embodiments, the positioning module 300 is specifically configured to:
The coordinate (X T',YT') of the projection T ' of the target T on the ground is obtained based on the analytical equations of the S ' 1M1 line and the S ' 2M2 line, and the first calculation formula for obtaining the first height information h of the target according to the triangle Δs 2S'2M2 is as follows:
the coarse positioning coordinates X T,YT, h of the target T are determined based on the first altitude information h of the target.
Preferably, in any of the above embodiments, the method further includes:
A second judging module for judging whether there is a star baseline meeting a second preset condition at the current moment, if yes, selecting any two star baselines from all the star baselines meeting the second preset condition as any two star baselines selected in the establishing module to obtain the ith height information h i of the target, and calculating the average of the i height information to obtain the optimized height information of the target Altitude information based on optimized targetsDetermining fine positioning coordinates of a target TWherein,
In some possible embodiments, in the multi-source multi-base mode, the calculated target position information is optimized by utilizing the advantages of the multi-source information, and the inversion accuracy of the target position information is improved.
The other technical scheme for solving the technical problems is as follows: a storage medium having instructions stored therein which, when read by a computer, cause the computer to perform a multi-source multi-base based target positioning method as claimed in any one of the preceding claims.
In some possible embodiments, the method uses GNSS satellite signals as a radiation source, does not emit electromagnetic wave signals by itself, and uses non-cooperative GNSS satellites as the radiation source, so that the method has the advantages of rich signal sources, all-day time, all-weather and the like, and has stronger concealment and viability. Under the multisource mode, when targets are located near base lines between a plurality of groups of GNSS satellites and ground base stations at the same time, a shadow effect is utilized to construct a target position information inversion geometric model, preliminary calculation of target position information is achieved, and the problem of target position information blurring in a traditional method is solved.
The other technical scheme for solving the technical problems is as follows: an electronic device comprising a memory, a processor and a program stored on the memory and running on the processor, the processor implementing a multi-source multi-base based target positioning method as claimed in any one of the preceding claims when executing the program.
In some possible embodiments, the method uses GNSS satellite signals as a radiation source, does not emit electromagnetic wave signals by itself, and uses non-cooperative GNSS satellites as the radiation source, so that the method has the advantages of rich signal sources, all-day time, all-weather and the like, and has stronger concealment and viability. Under the multisource mode, when targets are located near base lines between a plurality of groups of GNSS satellites and ground base stations at the same time, a shadow effect is utilized to construct a target position information inversion geometric model, preliminary calculation of target position information is achieved, and the problem of target position information blurring in a traditional method is solved.
The reader will appreciate that in the description of this specification, a description of terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the method embodiments described above are merely illustrative, e.g., the division of steps is merely a logical function division, and there may be additional divisions of actual implementation, e.g., multiple steps may be combined or integrated into another step, or some features may be omitted or not performed.
The above-described method, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RAM, randomAccessMemory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The present invention is not limited to the above embodiments, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the present invention, and these modifications and substitutions are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (6)
1. A multi-source multi-base based target positioning method, comprising:
Step 1, judging whether targets are simultaneously positioned on n satellite base lines or meet a first preset condition, if yes, executing step 2, wherein the satellite base lines are connecting lines between satellites and base stations, and n is more than or equal to 2;
Step 2, at the current moment, selecting any two star baselines, and establishing a position information geometric model of the target based on the two star baselines;
Step 3, completing coarse positioning of the target according to the position information geometric model;
The first preset condition is that when the angle between the target and the star base line is 175-180 degrees, and the position information geometric model of the target is built based on the two star base lines, the method comprises the following steps:
The position information geometric model of the target is constructed with the coordinates S 1(XS1,YS1,ZS1 of the first satellite), the coordinates S 2(XS2,YS2,ZS2 of the second satellite), the coordinates M 1(XM1,YM1 of the first base station), the coordinates M 2(XM2,YM2 of the second base station, the coordinates S 1'(XS'1,YS'1 of the satellite lower point of the coordinates S 1 of the first satellite) and the coordinates S' 2(XS'2,YS'2 of the satellite lower point of the coordinates S 2 of the second satellite;
the step 3 specifically comprises the following steps:
The coordinate (X T',YT') of the projection T 'of the target T on the ground is obtained based on the analytical equations of the S 1'M1 line and the S' 2M2 line, and the first calculation formula for obtaining the first height information h of the target according to the triangle Δs 2S'2M2 is as follows:
the coarse positioning coordinates X T,YT, h of the target T are determined based on the first altitude information h of the target.
2. The multi-source multi-base based target positioning method according to claim 1, further comprising, after the step 3:
Step 4, judging whether star baselines meeting a second preset condition exist at the current moment, if yes, selecting any two star baselines from all the star baselines meeting the second preset condition as any two star baselines selected in the step 2, obtaining the ith height information h i of the target, carrying out average calculation on the i height information, and obtaining the optimized height information of the target Altitude information based on optimized targetsDetermining fine positioning coordinates of a target TThe second preset condition is: whether the GNSS satellite signals received by other ground base stations exist shadow effect features at the same moment or not, namely the signal strength is reduced by 1-3 dB compared with the signal strength under the normal condition;
wherein,
3. A multi-source multi-base based object localization system comprising:
the first judging module is used for judging whether the targets are simultaneously positioned on n satellite base lines or meet a first preset condition, if yes, the establishing module is executed, wherein the satellite base lines are connecting lines between satellites and base stations, and n is more than or equal to 2;
the establishing module is used for selecting any two star baselines at the current moment and establishing a position information geometric model of the target based on the two star baselines;
The positioning module is used for completing coarse positioning of the target according to the position information geometric model;
The first preset condition is that when the angle between the target and the star base line is 175-180 degrees, and the position information geometric model of the target is built based on the two star base lines, the method comprises the following steps:
The position information geometric model of the target is constructed with the coordinates S 1(XS1,YS1,ZS1 of the first satellite), the coordinates S 2(XS2,YS2,ZS2 of the second satellite), the coordinates M 1(XM1,YM1 of the first base station), the coordinates M 2(XM2,YM2 of the second base station, the coordinates S 1'(XS'1,YS'1 of the satellite lower point of the coordinates S 1 of the first satellite) and the coordinates S' 2(XS'2,YS'2 of the satellite lower point of the coordinates S 2 of the second satellite;
the step 3 specifically comprises the following steps:
The coordinate (X T',YT') of the projection T 'of the target T on the ground is obtained based on the analytical equations of the S 1'M1 line and the S' 2M2 line, and the first calculation formula for obtaining the first height information h of the target according to the triangle Δs 2S'2M2 is as follows:
the coarse positioning coordinates X T,YT, h of the target T are determined based on the first altitude information h of the target.
4. A multi-source, multi-base based object localization system as claimed in claim 3, further comprising:
a second judging module, configured to judge whether there are star baselines satisfying a second preset condition at the current moment, if yes, select any two star baselines as any two star baselines selected in the step 2 from all the star baselines satisfying the second preset condition, obtain the ith height information h i of the target, perform average calculation on the i height information, and obtain the optimized height information of the target Altitude information based on optimized targetsDetermining fine positioning coordinates of a target TThe second preset condition is: whether the GNSS satellite signals received by other ground base stations exist shadow effect features at the same moment or not, namely the signal strength is reduced by 1-3 dB compared with the signal strength under the normal condition;
wherein,
5. A storage medium having instructions stored therein which, when read by a computer, cause the computer to perform a multi-source multi-base based target positioning method according to claim 1 or 2.
6. An electronic device comprising the storage medium of claim 5, a processor to execute instructions within the storage medium.
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