CN-121978696-A - Bidirectional photoelectric measurement co-location method

CN121978696ACN 121978696 ACN121978696 ACN 121978696ACN-121978696-A

Abstract

The invention provides a bidirectional photoelectric measurement co-location method, which is used for realizing high-precision and low-delay co-location through bidirectional photoelectric ranging direction finding and data chain synchronization between an unmanned ship and a patrol vehicle when the patrol vehicle navigation equipment fails in a short time (such as electromagnetic interference, shielding and high maneuvering state). The unmanned ship and the patrol aircraft respectively measure the other party by utilizing the photoelectric equipment of the unmanned ship, respectively and independently calculate two patrol aircraft position estimated values based on the high-precision position of the unmanned ship, calculate the cooperative weight coefficient according to the measurement errors of the photoelectric equipment of the two parties, carry out weighted average fusion at the patrol aircraft end, directly output the optimized positioning result, and effectively avoid delay errors caused by the back and forth transmission of a data chain. The patrol device can obtain reliable positioning information under complex electromagnetic environment and maneuvering conditions. The unmanned ship and the aircraft patrol cooperative scene are suitable for unmanned ships and aircraft patrol cooperative scenes, and have the advantages of good instantaneity, strong anti-interference performance, low cost and the like.

Inventors

HU CHANGQING
XU RUNYU
WANG GUODONG
NIU GENYUAN
LI QINGZHOU
XU CHEN
LI WEI
BIAN JIANG

Assignees

北京航天控制仪器研究所

Dates

Publication Date: 20260505
Application Date: 20251218

Claims (8)

1. A bi-directional electro-optical measurement co-location method, comprising: acquiring distance, azimuth angle and high-low angle information of the unmanned ship relative to the patrol aircraft, which are acquired by photoelectric equipment carried by the unmanned ship; Acquiring distance, azimuth angle and high-low angle information of the patrol aircraft relative to the unmanned ship, which are acquired by photoelectric equipment carried by the patrol aircraft; Based on the position information of the optical fiber inertial unit carried by the unmanned ship, the distance, azimuth angle and high-low angle information of the unmanned ship relative to the patrol aircraft, which are acquired by the photoelectric equipment carried by the unmanned ship, are combined, and the current first position estimated value of the patrol aircraft is calculated; Based on the position information of the optical fiber inertial unit carried by the unmanned ship, the distance, azimuth angle and high-low angle information of the patrol aircraft relative to the unmanned ship, which are acquired by the photoelectric equipment carried by the patrol aircraft, are combined, and the current second position estimated value of the patrol aircraft is calculated; Calculating a cooperative weight coefficient based on measurement errors of photoelectric equipment carried by the unmanned ship and the patrol aircraft; Synchronizing the position information of the optical fiber inertial unit carried by the unmanned ship and the cooperative weight coefficient to the patrol aircraft through a data chain between the unmanned ship and the patrol aircraft; using the collaborative weight coefficient to perform weighted average fusion on the first position estimated value and the second position estimated value to obtain an optimized position estimated value of the cruise ship as a real-time position of the cruise ship; and synchronizing the optimal position estimation value of the cruise ship to the unmanned ship end through a data chain, so that the sharing and collaborative perception of the positions of the cruise ship by the unmanned ship and the cruise ship are realized.
2. The method according to claim 1, wherein the current first position estimate of the cruise ship is in particular: Wherein, the The current first position estimated value of the patrol aircraft; The position coordinates of the unmanned ship optical fiber inertial measurement unit are obtained; the angle between the target direction line MM 1 and the horizontal plane is the equivalent high-low angle of unmanned ship photoelectric equipment; the angle between the orientation line OY and the projection line of the target direction line MM 1 in the horizontal plane of the imaging device is the equivalent azimuth angle of the unmanned ship photoelectric device; the space distance from the unmanned ship to the patrol aircraft is measured by the unmanned ship photoelectric equipment.
3. The method according to claim 1, characterized in that the estimated value of the current second position of the cruise ship is in particular: =( ) Wherein, the Estimating a current second position of the patrol device; The position coordinates of the unmanned ship optical fiber inertial measurement unit are acquired by the patrol aircraft through a data chain; the space distance from the unmanned ship to the patrol aircraft is set; The equivalent high and low angles of the photoelectric equipment of the patrol aircraft; Is the equivalent azimuth angle of the photoelectric device of the patrol aircraft.
4. The method of claim 1, wherein the synergy weight coefficient is as follows: Wherein, the 、 Is a collaborative weight coefficient; Is the covariance of the position error of the unmanned ship and the measurement error of the photoelectric equipment, The covariance of the measurement error of the photoelectric equipment of the patrol aircraft and the position error of the unmanned ship is related.
5. The method according to claim 1, characterized by an optimized position estimation of the cruise ship, in particular: When there is only one unmanned boat: Wherein, the For an optimal position estimate of the cruise ship, 、 Is a collaborative weight coefficient; estimating a current second position of the patrol device; Is the current first position estimated value of the patrol aircraft.
6. The method according to claim 1, characterized by an optimized position estimation of the cruise ship, in particular: when there are more than 1 unmanned boats: Wherein, the Is the first The unmanned ship and the patrol aircraft are fused and calculated to obtain the patrol aircraft position, wherein n is the total number of unmanned ships; Is the covariance of the positional error of unmanned ship i and its measurement error of the photoelectric device, The measurement error of photoelectric equipment of the patrol aircraft and the cited first A composite covariance of the unmanned ship position error; Is the first And (5) the unmanned ship cooperates with the weight coefficient.
7. The method of claim 1, wherein the cruise vessel employs a MEMS integrated navigation device and the unmanned aerial vehicle employs an optical fiber inertial navigation system.
8. The method of claim 1, wherein the optoelectronic device comprises an infrared, laser, or visible light sensor that supports ranging and direction finding in an electromagnetic interference environment.

Description

Bidirectional photoelectric measurement co-location method Technical Field The invention relates to a bidirectional photoelectric measurement co-location method, in particular to a bidirectional photoelectric measurement co-location method between an unmanned ship and an aircraft patrol applicable to a GNSS refused environment, and belongs to the technical field of unmanned system platform co-navigation. Background The cruise ship has become important equipment in modern unmanned systems by virtue of low cost and high maneuverability. To control cost and volume, aircraft are typically integrated MEMS (micro-electro-mechanical systems) navigation systems. However, the MEMS inertial sensor has the problems of fast error accumulation and low accuracy, and when the GNSS receiving module faces electromagnetic interference, physical shielding or poor antenna posture caused by high-speed maneuvering, the signal is easily interrupted, so that the cruise device loses reliable positioning information, and the efficiency of the cruise device is seriously affected. Unmanned boats are commonly equipped with high-precision optical fiber inertial navigation systems as a motorized platform that persists offshore. The optical fiber inertial navigation has the characteristics of high short-term precision and strong autonomy, can still keep higher precision positioning capability even in the short-term interruption period of the GNSS, and provides stable and accurate self-position information of the far-beyond MEMS system. The existing co-location concept mostly relies on unidirectional assistance, i.e. a high-precision platform (unmanned ship) is only used for providing a position reference or correction for a low-precision platform (cruise ship). The method has obvious limitations that firstly, the perception information of the low-precision platform cannot be fully utilized, the system potential is not fully mined, and secondly, the common processing mode is that all original data or intermediate results are transmitted back to an unmanned ship for centralized calculation, and then the final results are issued to a patrol aircraft. In the scenario of high-speed maneuvering of the cruise ship, the back and forth transmission of the data chain introduces non-negligible time delay, so that the issued positioning result is seriously outdated, and the instantaneous position of the cruise ship cannot be truly reflected, namely, the problem that the positioning does not follow maneuvering is fatal to the cruise ship which needs real-time accurate control. Disclosure of Invention The technical problem of the invention is to overcome the defects of the prior art, provide a bidirectional photoelectric measurement co-location method, and aim to solve the problems of inaccurate location and location delay of the cruise ship in the event of GNSS failure. The technical scheme of the invention is as follows: The invention discloses a bidirectional photoelectric measurement co-location method, which comprises the following steps: acquiring distance, azimuth angle and high-low angle information of the unmanned ship relative to the patrol aircraft, which are acquired by photoelectric equipment carried by the unmanned ship; Acquiring distance, azimuth angle and high-low angle information of the patrol aircraft relative to the unmanned ship, which are acquired by photoelectric equipment carried by the patrol aircraft; Based on the position information of the optical fiber inertial unit carried by the unmanned ship, the distance, azimuth angle and high-low angle information of the unmanned ship relative to the patrol aircraft, which are acquired by the photoelectric equipment carried by the unmanned ship, are combined, and the current first position estimated value of the patrol aircraft is calculated; Based on the position information of the optical fiber inertial unit carried by the unmanned ship, the distance, azimuth angle and high-low angle information of the patrol aircraft relative to the unmanned ship, which are acquired by the photoelectric equipment carried by the patrol aircraft, are combined, and the current second position estimated value of the patrol aircraft is calculated; Calculating a cooperative weight coefficient based on measurement errors of photoelectric equipment carried by the unmanned ship and the patrol aircraft; Synchronizing the position information of the optical fiber inertial unit carried by the unmanned ship and the cooperative weight coefficient to the patrol aircraft through a data chain between the unmanned ship and the patrol aircraft; using the collaborative weight coefficient to perform weighted average fusion on the first position estimated value and the second position estimated value to obtain an optimized position estimated value of the cruise ship as a real-time position of the cruise ship; and synchronizing the optimal position estimation value of the cruise ship to the unmanned ship end through a d