CN113701751B - A navigation device based on multi-beam antenna - Google Patents
A navigation device based on multi-beam antenna Download PDFInfo
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- CN113701751B CN113701751B CN202110976934.9A CN202110976934A CN113701751B CN 113701751 B CN113701751 B CN 113701751B CN 202110976934 A CN202110976934 A CN 202110976934A CN 113701751 B CN113701751 B CN 113701751B
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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
- G01C21/165—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 combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/005—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using remotely controlled antenna positioning or scanning
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
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- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
一种基于多波束天线的导航装置，包含多个接收天线或者相控阵多波束天线、惯性测量组件或惯性导航系统、波束控制模块、多普勒频移跟踪模块(可选)和导航计算模块。利用惯性测量组件或者惯性导航模块、波束控制模块实现多个天线波束对准多个卫星，可以获得载体相对卫星的多个精确指向信息；各天线波束收到卫星的载波或信标信号后，利用多普勒频移模块检测对应卫星信标或载波信号中的多普勒频率信息；利用惯性测量组件或者惯性导航系统的输出信息、天线对卫星的指向信息以及多普勒频率信息实现载体的定位和导航。本发明采用天线被动接收卫星的载波或信标信号来实现定位和导航，具有自主、被动、抗干扰等特点，为运动载体提供了一种新型导航装置。
A navigation device based on a multi-beam antenna comprises a plurality of receiving antennas or a phased array multi-beam antenna, an inertial measurement unit or an inertial navigation system, a beam control module, a Doppler frequency shift tracking module (optional) and a navigation calculation module. By using an inertial measurement unit or an inertial navigation module and a beam control module to realize alignment of a plurality of antenna beams with a plurality of satellites, a plurality of precise pointing information of a carrier relative to a satellite can be obtained; after each antenna beam receives a carrier or beacon signal from a satellite, a Doppler frequency shift module is used to detect the Doppler frequency information in the corresponding satellite beacon or carrier signal; the output information of the inertial measurement unit or an inertial navigation system, the pointing information of the antenna to the satellite and the Doppler frequency information are used to realize positioning and navigation of the carrier. The present invention adopts an antenna to passively receive a carrier or beacon signal from a satellite to realize positioning and navigation, and has the characteristics of autonomy, passivity and anti-interference, and provides a new type of navigation device for a moving carrier.
Description
Technical Field
The invention belongs to the technical field of navigation of a moving platform, and particularly relates to a navigation device based on a multi-beam antenna.
Background
At present, motion carriers such as vehicles, ships, airplanes, missiles and the like commonly adopt inertia, satellites and various combined navigation technologies. However, since the navigation positioning system such as GPS/BD generally adopts an omni-directional antenna (although various anti-interference antennas are present and applied), the navigation positioning system is very easy to be interfered and deceptively used. In complex and antagonistic environments, each motion vector cannot rely solely on satellite navigation as a means. The inertial navigation mode can realize autonomous navigation, but errors can be accumulated with time, and the accuracy of the inertial navigation mode is difficult to meet the requirements for long-time and high-accuracy navigation. The current unmanned system has rapid development and higher intelligent degree, and has urgent requirements on high-precision anti-interference navigation.
The GNSS global satellite navigation system can provide accurate navigation, positioning and time service all the time, all the time and all the regions, is widely applied to various fields of the army and the civilian, and continuously improves the dependence on satellite navigation. However, GNSS satellite navigation systems have two distinct disadvantages, namely strong dependence on navigation satellites; secondly, the ground navigation signal is a spread spectrum communication system, and the signal is weak and is very easy to be interfered. Although various anti-jamming techniques have been developed, the cost of strong jamming or spoofing is still very low.
The applicant proposes a method and a device for navigation of a motion vector based on directional antennas and Doppler information in a patent (202110845079.8, application date: 2021-07-26), which adopts the following steps to realize the navigation of the motion vector based on the directional antennas and Doppler information:
s1: the exact initial position of the moving carrier, the fixed or moving beacon position information is known, the moving carrier being carried with a directional antenna. When there are a plurality of fixed or movable beacons, one of the fixed or movable beacons can be selected according to the use environment and other limitations, and can be switched in the running process according to the strategy, and a plurality of beacons can be selected, and a plurality of directional antennas can be selected to be used.
S2: the antenna beam control system based on the directional antenna is assisted by an IMU or INS, and keeps the directional antenna always aligned with the beacon in the motion process of the motion carrier, and outputs the attitude angle and the attitude angle deviation of the motion carrier during alignment. The method specifically comprises the following steps:
S2.1: in the motion process of the motion carrier, under the assistance of the IMU or INS, obtaining motion information of the motion carrier, namely longitude and latitude information, attitude angle and attitude angle change rate of the motion carrier;
S2.2: determining azimuth angle A, pitch angle E and polarization angle V of an antenna beam of a directional antenna in a geographic system by using longitude and latitude information, attitude angle and beacon position of a motion carrier, and realizing beam adjustment by using an antenna beam control system, so that the directional antenna initially faces a beacon to capture a beacon signal;
S2.3: after the directional antenna captures a beacon signal, finely aligning the beacon in a signal maximum mode, finishing stable tracking of the beacon, and obtaining an actual azimuth angle A T and a pitch angle E T of an antenna beam of the directional antenna in a geographical system during fine alignment;
S2.4: after beam tracking is achieved, according to the azimuth angle and pitch angle control deviation signals, the attitude angle deviation of the moving carrier is obtained, namely the deviation between the azimuth angle A and the pitch angle E and the actual azimuth angle A T and the pitch angle E T.
In the motion process of the motion carrier, the IMU or INS continuously measures the attitude change of the motion carrier, and the beam direction is adjusted by using a beam control system so as to ensure that the directional antenna beam always points to the beacon and continuously tracks.
S3: and receiving the beacon signal obtained by the directional antenna by using the Doppler frequency shift tracking module, and measuring and obtaining Doppler frequency information caused by the motion of the motion carrier in the beacon signal. When S1 selects a plurality of beacons and a plurality of directional antennas, a plurality of beams are aligned to the plurality of beacons, and a plurality of doppler frequencies and beam pointing information can be obtained.
S4: correcting errors of an inertial measurement assembly or an inertial navigation system based on the attitude angle and the attitude angle deviation of the motion carrier, the beacon position information and the Doppler frequency information of a beacon signal received by the motion carrier when the directional antenna is aligned with the beacon, and finally outputting corrected navigation position information of the motion carrier. When S1 selects a plurality of beacons and a plurality of directional antennas, the navigation computation uses a plurality of doppler frequencies and beam pointing information, improving accuracy of correction.
The navigation information obtained by correcting the directional antenna pointing information, the attitude angle deviation of the motion carrier, the beacon position information and the Doppler information can correct the error accumulation of the inertial measurement unit IMU or the inertial navigation system INS, and high-precision navigation information output is realized.
The patent can realize that the position and the beacon signal of a fixed or movable beacon such as a geosynchronous communication satellite are utilized to perform signal processing on a motion carrier under the condition that a navigation positioning system such as a GPS/BD (global positioning system/BD) is invalid, and certain precision navigation positioning information of the motion carrier such as a vehicle, a ship, an airplane, a missile and the like is met.
Although this patent can achieve accurate navigation at low cost, it still needs to rely on doppler information, and the application scenario and range still have certain limitations.
Disclosure of Invention
In order to overcome the defects of the prior art, aiming at the navigation requirement of a moving carrier, the invention aims to provide a device based on a multi-beam antenna, which can process signals on the moving carrier by utilizing signals such as geosynchronous communication satellites and the like under the condition that a navigation positioning system such as GNSS and the like fails, thereby realizing a low-cost emergency navigation positioning system and meeting certain precision navigation positioning information of the moving carrier such as vehicles, ships, airplanes, missiles and the like. The navigation device of the invention is characterized in that: 1. the autonomy is strong, the signal is passively received but not transmitted, and navigation can be realized by depending on but not depending on a single communication satellite; 2. the anti-interference performance is strong, a narrow-beam and large-gain directional antenna is adopted to aim at a satellite, the antenna direction is changed continuously along with the time, and the intentional main lobe interference is almost impossible; 3. the error is not accumulated, and the IMU error of the inertial measurement unit is continuously corrected by using the antenna directivity and Doppler frequency shift information, so that high-precision positioning can be realized; 4. the implementation cost is low, a satellite system is not required to be specially built, and the terminal cost is low. The invention has wide military application prospect in the aspects of ships, airplanes, vehicles, missiles and the like. Under the condition that the GNSS satellite navigation system is interfered, the navigation system is particularly suitable for being used as a bottom-protecting and backup navigation means.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
A multi-beam antenna based navigation device, comprising:
A multi-beam antenna configured on the motion carrier; the motion carrier can be a missile, an airplane, a ship, a shell or a vehicle, and the multi-beam antenna can be a synthetic multi-beam antenna or a phased array multi-beam antenna; the synthetic multi-beam antenna is a receiving antenna for synthesizing a plurality of beams, such as a reflecting surface antenna, a flat plate antenna or a single-beam phased array antenna; the phased array multi-beam antenna is a mechanical phased array multi-beam antenna, a semiconductor phased array antenna, a metamaterial phased array antenna (such as a liquid crystal phased array antenna), an optical phased array antenna (such as a luneberg lens phased array), and a DBF phased array antenna (such as a digital multi-beam phased array antenna).
An Inertial Measurement Unit (IMU) or an Inertial Navigation System (INS) is mounted on the motion carrier, and in the motion process of the motion carrier, motion information of the motion carrier is perceived, an attitude angle and an attitude angle change rate of the motion carrier are output, and an auxiliary beam control module realizes antenna beam control.
The beam control module is used for keeping each antenna beam always aligned with a corresponding satellite in the motion process of the motion carrier by utilizing the assistance of the inertial measurement component or the inertial navigation system, and outputting antenna beam pointing information during alignment; wherein the satellite may be a GEO, MEO or LEO satellite. The beam control module is carried on the motion carrier, calculates and determines the direction of each antenna beam, namely the azimuth angle and the pitch angle by using the longitude and latitude information of the motion carrier, the attitude angle of the motion carrier and the satellite position, and controls the beam adjustment according to the principle of maximum energy of a received signal so as to control each antenna beam to be accurately aligned with a corresponding satellite.
The navigation calculation module fuses and outputs the navigation position information of the motion carrier based on the attitude angle and the deviation of the attitude angle of the motion carrier when each antenna beam is aligned with the satellite, the current position information of the satellite, and the output information of the inertial measurement assembly or the inertial navigation system.
Optionally, the invention further comprises a doppler frequency shift tracking module, which receives satellite beacons or carrier signals obtained by each antenna beam, measures doppler frequency information in the obtained signals due to motion of the motion carrier, and outputs the doppler frequency information to the navigation computation module for fusion. The Doppler frequency shift tracking module comprises a plurality of channels, each channel corresponds to one antenna beam, and each channel is independently measured to obtain the Doppler frequency shift of the moving carrier relative to the corresponding satellite. The Doppler shift tracking module measures the Doppler shift of the satellite beacon or carrier signal relative to a set frequency and considers the effect of the propagation path on the Doppler shift.
The method for obtaining the navigation position information of the motion carrier by fusing the navigation calculation module comprises the following steps:
When the number k of antenna beams is 2 or more:
The position of the motion carrier can be directly calculated according to the spatial relationship by using the positions of k satellites and the wave beam pointing information of k antennas (mainly referred to as pitch angle and azimuth angle of the antennas). The more the number of the wave beams is, the redundant information can improve the positioning accuracy by using an optimization algorithm.
When the number k of antenna beams is 1:
the position of a single satellite and Doppler information received by a single antenna beam are utilized to realize the positioning navigation of a motion carrier based on the Doppler navigation principle; or alternatively, the first and second heat exchangers may be,
The navigation position information of the motion carrier is fused and output by utilizing the position of a single satellite, the pointing information (namely the pitch angle and the azimuth angle of an antenna) of a single antenna beam and Doppler information received by the single antenna beam; or alternatively, the first and second heat exchangers may be,
The navigation position information of the motion carrier is fused and output by utilizing the position of a single satellite, the pointing information (namely the pitch angle and the azimuth angle of an antenna) of a single antenna beam and Doppler information received by the single antenna beam; or alternatively, the first and second heat exchangers may be,
And when the antenna beam is aligned to the satellite, the navigation position information of the motion carrier is fused and output by utilizing the attitude angle of the motion carrier, the attitude angle deviation of the motion carrier, the current position information of the satellite, the Doppler frequency information of satellite signals received by the antenna beam and the output information of an inertial measurement assembly or an inertial navigation system.
When the number k of the wave beams is larger than 1, the redundant information can improve the positioning accuracy by using an optimization algorithm.
Compared with the prior art, the invention has the beneficial effects that: the output of the integrated inertial measurement unit IMU or the inertial navigation system INS, the accurate pointing information obtained by aiming at the satellite by the multi-beam antenna, the Doppler frequency shift information of the motion carrier relative to a plurality of satellites and the navigation position information of the motion carrier can be used for fusion estimation. As opposed to the single antenna case. In the case of a multi-beam antenna, the information for navigational positioning of the moving carrier is more redundant, so that an algorithm for navigational positioning fusion will have more possibilities. From the principle point of view, the novel navigation terminal has the following characteristics: the autonomous is strong, the signal is passively received but not transmitted, navigation can be realized by depending on but not depending on a communication satellite, no information interaction exists outside, and the hidden property is strong; the anti-interference performance is strong, the satellite signals are received by adopting a directional antenna beam with narrow beam and large gain, and the intentional antenna main lobe interference is almost impossible because the positions of the moving carrier and the satellite are continuously changed along with the time; the accuracy is high, errors are not accumulated, the IMU errors of the inertial measurement assembly are continuously corrected by using the antenna directivity and Doppler frequency shift information, and high-accuracy navigation positioning can be realized; the implementation cost is low, a satellite system is not required to be specially built, and the terminal cost is low.
Drawings
Fig. 1 is a schematic diagram of the navigation device of the present invention.
Fig. 2 is a schematic diagram of the operation of the navigation device of the present invention.
Fig. 3 is a schematic diagram of an antenna control module according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a doppler shift tracking module and a navigation computation module according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a motion carrier, a communication satellite, and a coordinate relationship in an example of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
As shown in fig. 1, the present invention proposes a multi-beam antenna-based navigation device, which includes a plurality of receiving antennas or phased array multi-beam antennas, an inertial measurement unit or inertial navigation system, a beam control module, a doppler shift tracking module (optional), and a navigation computation module. With the continuous progress of phased array antenna technology, multi-beam antennas have begun to be used, and in the case of multi-beam antennas, the information for navigation positioning of the motion carrier is more redundant, so that the algorithm for performing navigation positioning fusion will have more possibility than the method described in patent 202110845079.8. For example, when the number k of beams is greater than 2, the positions of the k satellites and the k beam pointing information (including pitch angle and azimuth angle) are utilized, the positions of the moving carrier can be directly calculated according to the spatial relationship without Doppler information, and a Doppler frequency shift tracking module is not needed in the case. In addition, the redundant information is beneficial to improving the navigation positioning precision, so that the application scene and the range of the navigation device are expanded.
Fig. 2 is a schematic diagram of the operation of the navigation device according to the present invention, and the following modules and functions are described:
The multi-beam antenna is configured on the motion carrier platform. The multi-beam antenna is a composite multi-beam antenna or a phased array multi-beam antenna: the synthetic multi-beam antenna is a receiving antenna for synthesizing a plurality of beams, such as a reflecting surface antenna, a flat plate antenna or a single-beam phased array antenna; the phased array multi-beam antenna is a mechanical phased array multi-beam antenna, a semiconductor phased array antenna, a metamaterial phased array antenna (such as a liquid crystal phased array antenna), an optical phased array antenna (such as a luneberg lens phased array), and a DBF phased array antenna (such as a digital multi-beam phased array antenna). In this example two semiconductor phased array antennas are used.
The beam control module is assisted by an inertial measurement component or an inertial navigation system, and keeps each antenna beam always aligned with a corresponding satellite in the motion process of the motion carrier, and outputs antenna beam pointing information during alignment. The satellite herein may be GEO, MEO, LEO satellites. The beam control module is carried on the motion carrier, calculates and determines the direction of each antenna beam, namely the azimuth angle and the pitch angle by using the longitude and latitude information of the motion carrier, the attitude angle of the motion carrier and the satellite position, and controls the beam adjustment according to the principle of maximum energy of a received signal so as to control each antenna beam to be accurately aligned with a corresponding satellite. In this example, the two antenna beam bands are all Ka bands, and the beams are aligned with geosynchronous orbit communication satellites in the Ka bands.
The Inertial Measurement Unit (IMU) or the Inertial Navigation System (INS) is characterized in that in the motion process of a motion carrier, motion information of the motion carrier is perceived, attitude angle and attitude angle change rate information of the motion carrier are output, and an auxiliary beam control module realizes antenna beam control.
The Doppler frequency shift tracking module receives satellite beacons or carrier signals obtained by each antenna beam and measures Doppler frequency information in the obtained signals due to movement of the moving carrier. The doppler shift tracking module measures the doppler shift of the carrier wave or satellite beacon signal transmitted by the satellite with respect to the set frequency by each antenna beam and considers the effect of the propagation path on the doppler shift, such as the effect of the ionosphere. In this example, the doppler shift tracking module includes two channels, each corresponding to a beam, and each channel independently measures the doppler shift of the moving carrier relative to the corresponding communication satellite.
The navigation calculation module is used for outputting navigation position information of the motion carrier based on the attitude angle and the deviation of the attitude angle of the motion carrier when each antenna beam is aligned with a satellite, the current position information of the satellite, the Doppler frequency information of satellite signals received by each beam, and the output information of an inertial measurement assembly or an inertial navigation system.
In the example, the Ka frequency band semiconductor phased array antenna (only the front side and the back side of a single antenna are shown, and the number of units is 1024), the main lobe of the semiconductor phased array antenna is used for satellite beacon signal reception, the width of the main lobe is as narrow as possible, the gain is high, and the side lobe is as small as possible so as to enhance the anti-interference performance.
Fig. 3 is a functional schematic diagram of an antenna control module in an example of the present invention, where the antenna control module includes implementing control on two aspects of polarization controller, azimuth and elevation according to output of the IMU module, implementing modulation of an antenna beam direction until energy of a beacon signal received by a tracking receiver is maximum, and at this time, implementing fine alignment, and obtaining an actual azimuth angle a T and an actual elevation angle E T of an antenna beam of a directional antenna in a geographical system after fine alignment. The attitude angle deviation of the moving carrier is the deviation between the azimuth angle A and the pitch angle E and the actual azimuth angle A T and the pitch angle E T.
The azimuth angle A, the pitch angle E and the polarization angle V of the antenna beam of the phased array antenna in the geographic system are as follows:
Where L is the latitude of the point where the motion vector is located, p i is pi, λ is the longitude of the motion vector, and λ s is the longitude of the beacon point below the satellite.
Fig. 4 is a schematic diagram of a doppler shift tracking module and a navigation computation module according to an embodiment of the present invention. The Doppler frequency shift tracking module is used for receiving a beacon signal (Ka frequency band communication satellite, beacon frequency is 12250.5 MHz) obtained by the phased array antenna, realizing Doppler frequency shift tracking on a satellite communication beacon, and measuring and obtaining Doppler frequency information brought by a motion carrier in the beacon signal. In this example, an atomic clock is used as a standard frequency source of two Doppler frequency shift tracking channels, and 10MHz and 24MHz reference frequency signals are output. The antenna control module outputs the down-converted beacon analog intermediate frequency signal (the frequency range is 0.95-1.45 GHz) as the input of the Doppler frequency shift tracking module.
The number k of wave beams in the embodiment of the invention is 2, and the calculation strategy of the navigation calculation module is as follows: and when the antenna beam is aligned to the satellite, the navigation position information of the motion carrier is fused and output by utilizing the attitude angle of the motion carrier, the attitude angle deviation of the motion carrier, the current position information of the satellite, the Doppler frequency information of satellite signals received by the antenna beam and the output information of an inertial measurement assembly or an inertial navigation system.
According to the relative motion of the geosynchronous orbit satellite and a motion carrier and the Doppler principle, the Doppler model is that
Where f carrier denotes the beacon signal frequency, v s is the velocity of the carrier in the ECEF coordinate system, it denotes the carrier velocity relative to the reference satellite, e 1、e2 is the unit vector of the line of sight direction of the moving carrier to the two satellites in the ECEF coordinate system, and c denotes the speed of light. The unit vector transmitted from the signal reception is defined as follows:
Wherein the method comprises the steps of And p v is the position of the satellite and motion vector in ECEF.
As shown in fig. 5, the longitude and latitude of the point where the motion carrier (in the northern hemisphere) is located are λ (east longitude is positive, west longitude is negative), and L, respectively.
Symbol definition:
[ v e,vn,vu]T is the velocity vector v of the motion vector at the northeast coordinates;
[ δv e,δvn,δvu]T is the motion carrier velocity error vector δ v;
[ lambda, L, h ] T is the position vector p in the warp-weft-high expression form of the motion vector;
[ δλ, δl, δh ] T is the corresponding error vector δp;
The unit vector e of the motion carrier relative to the sight direction of the communication satellite under an ECEF coordinate system;
r N earth radius, f eccentricity of earth.
The receiver measures Doppler frequency information in the beacon signal due to movement of the moving carrierIncluding true Doppler frequencyAnd doppler frequency error δf:
δf＝δvr·ers·c/fcarrier＝δva·c/fcarrier
Wherein:
is the true Doppler frequency
Δf is Doppler frequency error
C is the speed of light
F carrier is the carrier frequency
V r is the velocity of the moving carrier in the ECEF coordinate system
V s is the velocity of the target satellite in the ECEF coordinate system
Δv r is the velocity error of the moving carrier in the ECEF coordinate system
E rs is the unit vector of the line of sight direction of the motion vector to the target satellite in the ECEF coordinate system
Δv a is the velocity error of the motion vector in the direction of the line of sight of the motion vector to the satellite
In one example of the present invention, the step of estimating the navigation position of the motion carrier in the navigation computation module is as follows.
(1) IMU module pre-integration process
The measurement model of gyroscopes and accelerometers is assumed to be:
Wherein the method comprises the steps of Representing rotation from the navigational coordinate system to the inertial coordinate system,Is the angular velocity of the earth's rotation,For rotation of the navigation frame caused by movement of the carrier over the surface of the earth with curvature,AndAnd respectively representing measurement noise of the gyroscope and the accelerometer, and epsilon and delta respectively representing deviation of the gyroscope and the accelerometer, wherein the epsilon and delta are independent of each other. g n denotes a gravitational acceleration vector.
The construction of the high-precision IMU pre-integral measurement model is as follows:
Wherein the method comprises the steps of Is a mapping from ECEF to l navigation framework,Representing the rotation of the satellite from time i to time j of the satellite l (l=1, 2), and (a)/(a) representing an antisymmetric matrix of the a vector,
The pre-integration measurement model makes the pre-integration amount uncorrelated with the state quantities at i and j, so that it is not necessary to recalculate the pre-integration amount each time the state quantities at i and j are updated. The pre-integral measurement model is related to the deviation, pose and speed of the motion carrier. These states are iterated in the optimization process. Assume thatIs a pre-integrated IMU state vector,For incremental update, thenThe error that can update the pre-integrated first estimate is:
Jacobian matrix It is shown that the status update causes the IMU pre-integral measurement to change. The jacobian matrix remains unchanged at the time of pre-integration and can be pre-calculated at the time of initialization.
(2) Doppler frequency pre-integral measurement model
Assume that the entire state vector is:
where x i is the IMU state vector whose doppler frequency at time i is measurable. It contains the position, velocity and heading of the ECEF frame and the bias of the accelerometer and gyroscope in the IMU counter. Indicating the rotation from the motion carrier to the navigator at time i. k is the optimized track length. /(I)The ECEF positions of the observed communication satellites 1,2 are shown. b clk1,bclk2 represents the doppler shift of the satellite 1,2 beacons. When GNSS measurements are valid,And b clk1,bclk2 are observable.
The mahalanobis norms and residuals for all pre-integral, doppler measurements, and GNSS measurements and estimates are minimized to obtain the maximum a posteriori estimates:
Where r I(·)、rF (·) and r G (·) are residuals of pre-integral, doppler frequency and GNSS positioning measurements, respectively.
(3) IMU pre-integrated measurement residual and Doppler frequency measurement residual
The location and speed of IMU pre-integration increase represent two consecutive structural measurements k and k+1, the measurement residual of IMU pre-integration is defined as:
Wherein the method comprises the steps of Representing the rotation, speed and position, respectively, of the IMU pre-integration increase, (M) ∨ represents the mapping of the antisymmetric matrix M to a real vector a corresponding thereto.
The residual of the doppler frequency pre-integral is defined as:
Wherein the method comprises the steps of Beacon signal frequency measurements are obtained by a doppler shift tracking module and GNSS measurement residuals are defined as:
Wherein the method comprises the steps of Representing position measurement and/>, of GNSS at time jIndicating the speed measurement at time j, independent of each other.
(4) State estimation algorithm based on graph optimization
In the example, a graph optimization method is adopted to solve the nonlinear optimization problem. The calculation is looped by optimizing the variables in all trajectories and then updating the pre-integral measurements until the residual is less than the threshold in the iterative process. The algorithm is as follows:
Is provided with Is an initial solution; c= { < e ij(·),Ωij > } is a constraint; setting a residual error threshold; x * is a new solution, H * is a new information matrix;
To find the maximum likelihood solution, when the residual > residual threshold, b=0; h=0; for all c= { < e ij(·),Ωij > }, a jacobian matrix is calculated:
Calculating the contribution of the constraint to the linear system:
Calculating coefficient vectors:
keeping the first node unchanged: h [11] +=i
Solving the linear system with cholesky decomposition:
Δx＝slove(HΔx＝-b)
Updating parameters:
cycling until:
H*＝H。
Claims (6)
1. A multi-beam antenna based navigation device, comprising:
A multi-beam antenna configured on the motion carrier;
the inertial measurement assembly or the inertial navigation system is carried on the motion carrier, senses motion information of the motion carrier in the motion process of the motion carrier, and outputs the attitude angle and the attitude angle change rate of the motion carrier;
The beam control module is carried on the moving carrier, keeps each antenna beam always aligned with a corresponding satellite in the moving process of the moving carrier, and outputs antenna beam pointing information during alignment;
The navigation calculation module fuses and outputs navigation position information of the motion carrier based on the attitude angle and the deviation of the attitude angle of the motion carrier when each antenna beam is aligned with the satellite, the current position information of the satellite, and the output information of an inertial measurement assembly or an inertial navigation system;
The Doppler frequency shift tracking module receives satellite beacons or carrier signals obtained by each antenna beam, measures Doppler frequency information in the obtained signals caused by movement of the moving carrier, and outputs the Doppler frequency information to the navigation computation module for fusion; the Doppler frequency shift tracking module comprises a plurality of channels, each channel corresponds to one antenna beam, and each channel independently measures and obtains Doppler frequency shift of the motion carrier relative to the corresponding satellite;
the method for obtaining the navigation position information of the motion carrier by fusing the navigation calculation module comprises the following steps:
when the number k of antenna beams is greater than or equal to 2, the positions of the k satellites and the pointing information of the k antenna beams are utilized to directly calculate the positions of the motion carrier according to the spatial relationship;
When the number k of antenna beams is 1:
the position of a single satellite and Doppler information received by a single antenna beam are utilized to realize the positioning navigation of a motion carrier based on the Doppler navigation principle; or alternatively, the first and second heat exchangers may be,
The navigation position information of the motion carrier is fused and output by utilizing the position of a single satellite, the pointing information of a single antenna beam and the Doppler information received by the single antenna beam; or alternatively, the first and second heat exchangers may be,
The navigation position information of the motion carrier is fused and output by utilizing the position of a single satellite, the pointing information of a single antenna beam and the Doppler information received by the single antenna beam; or alternatively, the first and second heat exchangers may be,
And when the antenna beam is aligned to the satellite, the navigation position information of the motion carrier is fused and output by utilizing the attitude angle of the motion carrier, the attitude angle deviation of the motion carrier, the current position information of the satellite, the Doppler frequency information of satellite signals received by the antenna beam and the output information of an inertial measurement assembly or an inertial navigation system.
2. The multi-beam antenna based navigation device of claim 1, wherein the moving carrier is a missile, an airplane, a ship, a shell, or a vehicle and the satellite is a GEO, MEO, or LEO satellite.
3. The multi-beam antenna-based navigation device of claim 1, wherein the multi-beam antenna is a synthetic multi-beam antenna or a phased array multi-beam antenna.
4. A multi-beam antenna based navigation device according to claim 3, wherein the synthetic multi-beam antenna is a reflector antenna, a planar antenna or a single beam phased array antenna; the phased array multi-beam antenna is a mechanical phased array multi-beam antenna, a semiconductor phased array antenna, a metamaterial phased array antenna, an optical phased array antenna or a DBF phased array antenna.
5. The navigation device based on the multi-beam antenna according to claim 1, wherein the beam control module calculates and determines the beam direction, i.e. azimuth angle and pitch angle, of each antenna by using longitude and latitude information of the moving carrier, the attitude angle of the moving carrier and the satellite position, and controls the beam adjustment according to the principle of maximum energy of the received signal, so as to control the beam of each antenna to be precisely aligned to the corresponding satellite.
6. The multi-beam antenna based navigation device of claim 1, wherein the doppler shift tracking module measures the doppler shift of a satellite beacon or carrier signal relative to a set frequency and considers the effect of a propagation path on the doppler shift.
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| CN116772838B (en) * | 2023-08-21 | 2023-10-20 | 成都时代宇辰科技有限公司 | Inertial navigation error compensation method for mechanical phased array antenna |
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