测角测距信息下的双机协同高精度定位算法
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摘要
针对现有双机协同定位仅采用测角信息来解析求解误差较大的问题,提出基于测角和测距信息的双机协同高精度定位方法。利用现有飞行器中的导航定位传感器,采用粗精两级定位模式,粗定位采用传统的几何解析方法提供较为准确的初始解,精定位采用非线性迭代优化方法获得目标位置的最优解,并进行一系列仿真验证。仿真结果表明,测角测距信息下的协同定位方法能够获得较高的协同定位精度。
Aiming at the big error of the existing dual-aircraft cooperative locating algorithm caused by only based on the angle information, a high precision dual-aircraft cooperative locating algorithm based on the angle and distance information is proposed. The algorithm makes full use of the existing navigation sensors in the aircraft, adopting the coarse and precision two-stage positioning model. The coarse positioning uses the traditional geometric analysis method to acquire the initial value, and the precision positioning uses the nonlinear iterative optimization method to obtain the optimal solution of the target location. Carry out simulation verifications. Simulation results show that dual-aircraft cooperative locating algorithm based on the angle and distance measurement information can achieve higher precision.
Aiming at the big error of the existing dual-aircraft cooperative locating algorithm caused by only based on the angle information, a high precision dual-aircraft cooperative locating algorithm based on the angle and distance information is proposed. The algorithm makes full use of the existing navigation sensors in the aircraft, adopting the coarse and precision two-stage positioning model. The coarse positioning uses the traditional geometric analysis method to acquire the initial value, and the precision positioning uses the nonlinear iterative optimization method to obtain the optimal solution of the target location. Carry out simulation verifications. Simulation results show that dual-aircraft cooperative locating algorithm based on the angle and distance measurement information can achieve higher precision.
引文
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[3]关欣,关欣,陶李,等.多站协同定位的定位精度研究[J].计算机与数字工程,2016(5):829-834.
[4]闫俊.基于空战的多机协同定位算法研究[J].计算机仿真,2014,31(8):27-31.
[5]许晓伟,赖际舟,吕品,等.多无人机协同导航技术研究现状及进展[J].导航定位与授时,2017,4(4):1-9.
[6]徐博,白金磊,郝燕玲,等.多AUV协同导航问题的研究现状与进展[J].自动化学报,2015,41(3):445-461.
[7]辛亭.多无人机协同作战关键技术研究[D].南京:南京航空航天大学,2009:2-3.
[8]孟超,侯玉宏,肖妮.双机协同无源定位的飞行试验方法研究[J].导航定位与授时,2017,4(3):17-22.
[9]朱剑辉,方洋旺,张平,等.双机协同定位误差分析的研究[J].电光与控制,2012,19(6):21-25.
[10]贺刚,赵雷鸣,刘昊,等.双机协同交叉定位算法及误差分析[J].火力与指挥控制,2015,40(11):69-71.
[11]宋耀艳,张成毅,侯甲渤.牛顿迭代法在非线性特征问题中的收敛性[J].西安工程大学学报,2017,31(1):123-130.
[12]张平,方洋旺,朱剑辉,等.基于UKF算法的双机协同无源跟踪[J].电光与控制,2012,19(4):26-30.
[13]GAO X,FANGY W,WU Y L.Fuzzy Q learning algorithm for dual-aircraft path planning to cooperatively detect targets by passive radars[J].系统工程与电子技术(英文版),2013,24(5):800-810.
[14]POISEL R.Electronic warfare target location methods[M].Norwood:Artech House,2012:55-60.
[15]刘淼森,王辉华,陈栋.协同作战中多平台定位算法与仿真研究[J].计算机仿真,2006,23(7):22-26,30.
[16]陈磊.控制系统蒙特卡罗方法应用分析[J].软件导刊,2016,15(5):10-12.
[17]WILLMOTT C J,MATSUURA K.Advantages of the Mean Absolute Error(MAE)over the Root Mean Square Error(RMSE)in Assessing Average Model Performance[J].Climate Research,2005,30(1):79.
[18]张华海,郑南山,王军,等.由空间直角坐标计算大地坐标的简便公式[J].全球定位系统,2002,27(4):9-12.