CN109974692A - A kind of hidden environment astronomical positioning system and method based on neutrino signal - Google Patents
A kind of hidden environment astronomical positioning system and method based on neutrino signal Download PDFInfo
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Abstract
The present invention relates to a kind of hidden environment astronomical positioning system and method based on neutrino signal, day heart direction vector is obtained in the projection of carrier coordinate system by the neutrino detector measurement being fixed on carrier, by horizon instrument and refer to that northern instrument measures carrier coordinate system to the pose transformation matrix of geographic coordinate system, day heart direction vector is converted in the projection of geographic coordinate system by coordinate；Current time day heart direction vector is obtained in the projection of Earth central inertial system by sun ephemeris and clock calculation, and day heart direction vector is converted in the projection of the connected system of the earth by coordinate；Analytical Calculation obtains the latitude and longitude information of carrier present position.Neutrino signal can be transmitted in underwater/underground that electromagnetic wave is difficult to reach, to provide a kind of potential celestial navigation measurement method for the user in hidden environment.The carrier that the method for the invention can be in shading ring border for submarine etc. provides navigator fix service, the application value in army with higher on Future Information battlefield.
Description
Technical field
The present invention relates to a kind of hidden environment astronomical positioning system and method based on neutrino signal, belongs to navigational guidance
Technical field.
Background technique
Accurate positioning, navigation and time service (PNT) ability are to measure a key factor of country's military affairs and economic strength,
In Modern Information operational environment, can the navigation information of optimal in structure, which realize intention of fighting, is of crucial importance.
Currently, numerous military systems and optimal in structure rely on GNSS (Global Navigation Satellite System) or the integrated navigation system based on GNSS
Obtain navigation information.But satellite navigation signals are difficult to the biggish substance of penetration density, into after underwater or soil, radio
The relaxation phenomenon of signal is very serious, is difficult to apply in deep-marine-environment.
Submarine has extremely strong aggressive and concealment as important underwater optimal in structure, can be in hundreds of meters of depth
The continuously active several months in water is essential weaponry in modern war as the main power of strategic deterrence.Due to latent
Under the necessary deep diving of ship, the navigation signals such as traditional optical and GNSS cannot be obtained；And inertial navigation mode there are errors at any time
The problem of accumulation, constrains the long-term navigation precision of inertia system.Therefore, it is necessary to study new concept PNT technology, high-precision is realized
High security independent navigation provides safeguard for its underwater realization fought with other tactical missions.
One of elementary particle as the component world, neutrino be a kind of performance it is stable, it is not charged, moved with the light velocity
Microcosmic particle.Neutrino is the product that intranuclear proton or neutron decay, and fixed star shines, nuclear reactor generates electricity etc.
Physical process can all generate neutrino, and most significant feature is that and have extremely strong penetration capacity strictly by straightline propagation, can
Penetrate soil or water layer, or even the stereotype of number light-year thickness.
Neutrino is as the advantage of navigation signal carrier: firstly, neutrino signal has extremely strong penetration capacity, it will
Neutrino signal source can overcome traditional electromagnetic wave signal vulnerable to the defect for interfering and blocking influence, be one as navigation beacon
The advanced independent navigation measurement method of kind；Secondly, neutrino signal strictly presses straightline propagation, it is not susceptible in communication process anti-
It penetrates, reflect and decays, the accuracy of measurement can be ensured from signal system.
Neutrino signal can be transmitted in underwater/underground that electromagnetic wave is difficult to reach, thus for the user in hidden environment
A kind of potential celestial navigation measurement method is provided, the sun as celestial navigation target celestial body is an ideal in natural
Micro- subsignal source.Using localization method of the invention, so that the user in hidden environment can with more secure and reliable operate
Battlefield resource concentrates superior forces, realizes system equipment calibration and implement precision strike suddenly, to will accurately and effectively navigate
Information is changed into operational superiority.
Summary of the invention
Technology of the invention solves the problems, such as: overcome the deficiencies in the prior art is difficult to reach deep-sea for electromagnetic wave signal
And it is strong and square to give full play to neutrino penetration power for underground, the problem for causing traditional astronomy and the application of radionavigation mode to be limited
The good advantage of tropism proposes a kind of hidden environment astronomical positioning system and method based on neutrino signal, can be in traditional day
Effective navigation information is provided in the case where text and radio signal defence for user.
The technical solution of the invention is as follows:
A kind of hidden environment astronomical positioning method based on neutrino signal is provided, steps are as follows:
(1) day heart direction vector is obtained in the throwing of carrier coordinate system by the neutrino detector measurement being fixed on carrier
Shadow by horizon instrument and refers to that northern instrument measures carrier coordinate system to the pose transformation matrix of geographic coordinate system, is converted by coordinate
To day heart direction vector geographic coordinate system projection；
(2) current time day heart direction vector is obtained in the projection of Earth central inertial system by sun ephemeris and clock calculation,
And day heart direction vector is converted in the projection of the connected system of the earth by coordinate；
(3) the day heart direction vector according to obtained in step (1) is obtained in the projection of geographic coordinate system and step (2)
Day heart direction vector obtains the latitude and longitude information of carrier present position in the projection analytical Calculation of the connected system of the earth.
Preferably, day heart direction vector is as follows in the projection calculation formula of geographic coordinate system in the step (1):
Wherein, SbIndicate the day heart direction vector obtained by neutrino detector measurement in the projection of carrier coordinate system,It indicates through horizon instrument and refers to transition matrix of the carrier coordinate system of northern instrument measurement to geographic coordinate system, SnIndicate day heart direction
Projection of the vector in geographic coordinate system.
Preferably, the side of pose transformation matrix of the carrier coordinate system to geographic coordinate system is measured by horizon instrument and the northern instrument of finger
Method are as follows: the pitching angle theta and roll angle γ of carrier are obtained by horizon instrument measurement, by referring to that northern instrument measurement obtains the course angle of carrier
ψ, be calculated carrier coordinate system to geographic coordinate system pose transformation matrix
Preferably, transition matrix of the carrier coordinate system to geographic coordinate systemIt is as follows:
Preferably, day heart direction vector is converted to by coordinate in the step (2) to have in the projection of the connected system of the earth
Body are as follows:
Wherein, SiIndicate day heart direction vector Earth central inertial system projection,Indicate that Earth central inertial system is connected to the earth
The transition matrix of system, SeIndicate day heart direction vector in the projection of the connected system of the earth.
Preferably, by sun ephemeris and clock calculation current time day heart direction vector Earth central inertial system projection
Method are as follows: the ecliptic longitude λ of the sun is calculated according to sun ephemeris and clock informationsWith ecliptic latitude φs, calculate day heart side
It is as follows in the projection formula of Earth central inertial system to vector:
Wherein:
In formula, ε is ecliptic obliquity.
Preferably, transition matrix of the Earth central inertial system to the connected system of the earthIt is as follows:
In formula, αGFor Greenwich right ascension.
Preferably, in the step (3) latitude and longitude information of analytical Calculation carrier present position method are as follows:
Wherein,Indicate that the earth is tied to the transition matrix of geographic coordinate system admittedly, expression formula is as follows:
Wherein, L and λ respectively indicates the latitude and longitude of carrier.
Preferably, in the case where radio signal lacks, using the hidden environment astrofix based on neutrino signal
Method carries out carrier positioning.
A kind of hidden environment astronomical positioning system based on neutrino signal, hidden environment astronomical positioning system are provided simultaneously
It is mounted on carrier to be positioned, including neutrino detector, horizon instrument refers to northern instrument, clock and processor；
Neutrino detector is for measuring day heart direction vector in the projection of carrier coordinate system；Horizon instrument and the northern instrument of finger are used for
Measure posture of the carrier relative to geographic coordinate system；Clock provides reference time information for carrier navigator fix；
Processor according to carrier relative to geographic coordinate system posture obtain carrier coordinate system to geographic coordinate system posture
Transition matrix, the coordinate that is projected through by day heart direction vector in carrier coordinate system are converted to day heart direction vector in geography seat
Mark the projection of system；Current time day heart direction vector is obtained in Earth central inertial system by reference to temporal information and sun ephemeris computation
Projection, and by coordinate be converted to day heart direction vector the earth be connected system projection；Carrier is obtained by analytical Calculation
The latitude and longitude information of present position.
Preferably, day heart direction vector is as follows in the projection calculation formula of geographic coordinate system:
Wherein, SbIndicate the day heart direction vector obtained by neutrino detector measurement in the projection of carrier coordinate system,It indicates through horizon instrument and refers to transition matrix of the carrier coordinate system of northern instrument measurement to geographic coordinate system, SnIndicate day heart direction
Projection of the vector in geographic coordinate system.
Preferably, and by coordinate the method for being converted to projection of the day heart direction vector in the connected system of the earth are as follows:
Wherein, SiIndicate day heart direction vector Earth central inertial system projection,Indicate that Earth central inertial system is connected to the earth
The transition matrix of system, SeIndicate day heart direction vector in the projection of the connected system of the earth.
Preferably, the method for the latitude and longitude information of analytical Calculation carrier present position are as follows:
Wherein,Indicate that the earth is tied to the transition matrix of geographic coordinate system admittedly, expression formula is as follows:
Wherein, L and λ respectively indicates the latitude and longitude of carrier.
Compared with the prior art, the invention has the advantages that:
(1) existing for substituting or the airmanship of assisted GNSS mainly has inertial navigation and celestial navigation etc., although
It has passed through the development of many years, but there are still larger deficiencies, such as inertial navigation under the application conditions such as long-term navigation or signal blocks
System is limited by inertia device self-characteristic, and error accumulates at any time, constrains the long-term navigation precision of inertia system.Tradition
Celestial navigation sensor implements observation to the optical signalling of specific celestial body, and it is limited that optical signalling penetrates the water-borne depth in sea, difficult
To meet the needs of underwater user's navigator fix.Neutrino is utilized in hidden environment astronomical positioning method based on neutrino signal
Signal penetration power is strong and the advantage of good directionality, helps to solve traditional GNSS and the intrinsic fragility of celestial navigation system is brought
The problem of, steady navigator fix service can be provided for the user in hidden environment.
(2) calculation method of the present invention can realize navigator fix in the environment of GNSS signal defence, and computational accuracy is high, long
Phase stability is good, and computational efficiency is high, and independence is good.Point-positioning Precision can achieve km magnitude.
(3) localization method of the invention is applied, so that the user in hidden environment can with more secure and reliable operate
Battlefield resource concentrates superior forces, realizes system equipment calibration and implement precision strike suddenly, to will accurately and effectively navigate
Information is changed into operational superiority.
Detailed description of the invention
Fig. 1 is the flow chart of localization method of the present invention；
Fig. 2 is that day heart direction vector observes schematic diagram；
Fig. 3 is the carrier position error curve based on neutrino signal, and wherein Fig. 3 (a) is latitude error curve, Fig. 3 (b)
For longitude error curve.
Specific embodiment
A specific embodiment of the invention is further described in detail with reference to the accompanying drawing.
The present invention proposes a kind of hidden environment astronomical positioning method based on neutrino signal, as shown in Figure 1, step is such as
Under:
(1) day heart direction vector is obtained in the projection of carrier coordinate system, day by the neutrino detector measurement on carrier
It is as shown in Figure 2 that heart direction vector observes schematic diagram.Day heart direction vector is converted in the projection of geographic coordinate system by coordinate；
The pitching angle theta and roll angle γ of carrier are obtained by horizon instrument measurement, by referring to that northern instrument measurement obtains the course angle ψ of carrier, is led to
Cross formula be calculated carrier coordinate system to geographic coordinate system pose transformation matrix It is as follows:
Day heart direction vector is calculated as follows in the projection of geographic coordinate system:
Wherein, SbIndicate the day heart direction vector obtained by neutrino detector measurement in the projection of carrier coordinate system,It indicates through horizon instrument and refers to transition matrix of the carrier coordinate system of northern instrument measurement to geographic coordinate system, SnIndicate day heart side
To vector geographic coordinate system projection.
(2) the ecliptic longitude λ of the sun is calculated according to sun ephemeris and clock informationsWith ecliptic latitude φs, under utilization
Formula calculates day heart direction vector in the projection of Earth central inertial system
Wherein,
In formula, ε is ecliptic obliquity, is approximately 23.439291 °.
Transition matrix of the Earth central inertial system to the connected system of the earthIt is as follows:
Day heart direction vector is converted in the projection of the connected system of the earth, coordinate conversion by coordinate specifically:
Wherein, SiIndicating that day heart direction vector is connected in the Earth central inertial system, projective representation of Earth central inertial system to the earth is
Transition matrix, SeIndicate day heart direction vector in the projection of the connected system of the earth.
(3) the day heart direction vector according to obtained in step (1) is obtained in the projection of geographic coordinate system and step (2)
Day heart direction vector writes equation in the projection column of the connected system of the earth, is believed by the longitude and latitude that analytical Calculation obtains user present position
Breath, to realize the hidden environment astrofix based on neutrino signal.Column write equation form and are
Wherein,Indicate that the earth is tied to the transition matrix of geographic coordinate system admittedly, expression formula is as follows:
Wherein, L and λ respectively indicates the latitude and longitude of carrier.According to above-mentioned formula, it is not difficult to find out that, the earth is tied to ground admittedly
The coordinate transformation relation for managing coordinate system is only related to the longitude of carrier and the two unknown numbers of latitude, can be with by solve system of equation
Obtain longitude and latitude the two unknown numbers.
Positioning system by neutrino detector, horizon instrument, refer to northern instrument, processor, clock etc. and constitute, wherein neutrino is visited
Device is surveyed for measuring day heart direction vector in the projection of carrier coordinate system, horizon instrument and the northern instrument of finger are for measuring carrier relative to ground
The posture of coordinate system is managed, clock provides reference time information for carrier navigator fix, and processor is according to above-mentioned navigation sensor
Output calculates the position of carrier.
In the following, verifying the method for the invention by simulation example by taking the carrier navigator fix for being located at earth surface as an example
Validity.If carrier is located at 73 ° of east longitude, 41 ° of north latitude, posture keeps stable state over the ground.Installation has neutrino on carrier
The northern instrument of neutrino detector and horizon instrument and finger of signal source direction of visual lines measurement capability.Based on micro- in this nature of the sun
The observation in subsignal source obtains carrier positions information, it is assumed that the sun direction of visual lines of neutrino detector measures random error standard
Difference is 0.02 °, and horizon instrument and the attitude measurement error standard deviation for referring to northern instrument are 0.01 °.In simulation process, visited using neutrino
Survey the day heart direction vector information that device provides, in conjunction with horizon instrument and refer to posture information over the ground that northern instrument provides and it is known too
Angle position information of the sun on celestial sphere realizes that conventional wireless electricity and optics are believed by solving equation using the method for the invention
Carrier positions under number defence environment determine.100 emulation is carried out altogether, and obtained carrier positions definitive result is as shown in Figure 3.Figure
Middle solid line indicates that position determines error, and Fig. 3 (a) is latitude error, and Fig. 3 (b) is longitude error, and ordinate indicates that position determines and misses
The size of difference, unit are degree, and abscissa indicates simulation times.According to Fig. 3, it is not difficult to find out that, the method for the invention can be realized load
Body position determines, is calculated by statistics it is found that being based on above-mentioned simulated conditions, Point-positioning Precision can achieve km magnitude.
Main technical content of the invention can be used for solving the problems, such as underwater optimal in structure independent navigation, can satisfy " high-precision
The military requirement of degree, long-time, independence ", the application value in army with higher on Future Information battlefield.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (13)
1. a kind of hidden environment astronomical positioning method based on neutrino signal, which is characterized in that steps are as follows:
(1) day heart direction vector is obtained in the projection of carrier coordinate system by the neutrino detector measurement being fixed on carrier,
By horizon instrument and refer to that northern instrument measures carrier coordinate system to the pose transformation matrix of geographic coordinate system, day is converted to by coordinate
Projection of the heart direction vector in geographic coordinate system；
(2) current time day heart direction vector is obtained in the projection of Earth central inertial system by sun ephemeris and clock calculation, and led to
It crosses coordinate and is converted to day heart direction vector in the projection of the connected system of the earth；
(3) day heart obtained in the projection of geographic coordinate system and step (2) of the day heart direction vector according to obtained in step (1)
Direction vector obtains the latitude and longitude information of carrier present position in the projection analytical Calculation of the connected system of the earth.
2. a kind of hidden environment astronomical positioning method based on neutrino signal according to claim 1, it is characterised in that:
Day heart direction vector is as follows in the projection calculation formula of geographic coordinate system in the step (1):
Wherein, SbIndicate the day heart direction vector obtained by neutrino detector measurement in the projection of carrier coordinate system,Table
Show through horizon instrument and refers to transition matrix of the carrier coordinate system of northern instrument measurement to geographic coordinate system, SnIndicate day heart direction vector
In the projection of geographic coordinate system.
3. a kind of hidden environment astronomical positioning method based on neutrino signal according to claim 2, it is characterised in that:
The method for measuring pose transformation matrix of the carrier coordinate system to geographic coordinate system by horizon instrument and the northern instrument of finger are as follows: pass through horizon instrument
Measurement obtains the pitching angle theta and roll angle γ of carrier, and by referring to that northern instrument measurement obtains the course angle ψ of carrier, carrier is calculated
Pose transformation matrix of the coordinate system to geographic coordinate system
4. a kind of hidden environment astronomical positioning method based on neutrino signal according to claim 3, it is characterised in that:
Transition matrix of the carrier coordinate system to geographic coordinate systemIt is as follows:
5. a kind of hidden environment astronomical positioning method based on neutrino signal according to claim 1, it is characterised in that:
Day heart direction vector is converted in the projection of the connected system of the earth by coordinate in the step (2) specifically:
Wherein, SiIndicate day heart direction vector Earth central inertial system projection,Indicating that Earth central inertial system is connected to the earth is
Transition matrix, SeIndicate day heart direction vector in the projection of the connected system of the earth.
6. a kind of hidden environment astronomical positioning method based on neutrino signal according to claim 5, it is characterised in that:
By sun ephemeris and clock calculation current time day heart direction vector the projection of Earth central inertial system method are as follows: according to the sun
The ecliptic longitude λ of the sun is calculated in ephemeris and clock informationsWith ecliptic latitude φs, day heart direction vector is calculated in Earth central inertial
The projection formula of system is as follows:
Wherein:
In formula, ε is ecliptic obliquity.
7. a kind of hidden environment astronomical positioning method based on neutrino signal according to claim 5, it is characterised in that:
Transition matrix of the Earth central inertial system to the connected system of the earthIt is as follows:
In formula, αGFor Greenwich right ascension.
8. a kind of hidden environment astronomical positioning method based on neutrino signal according to claim 1, it is characterised in that:
The method of the latitude and longitude information of analytical Calculation carrier present position in the step (3) are as follows:
Wherein,Indicate that the earth is tied to the transition matrix of geographic coordinate system admittedly, expression formula is as follows:
Wherein, L and λ respectively indicates the latitude and longitude of carrier.
9. a kind of hidden environment astronomical positioning method based on neutrino signal according to claim 1, it is characterised in that:
In the case where radio signal missing, it is fixed that carrier is carried out using the hidden environment astronomical positioning method based on neutrino signal
Position.
10. a kind of hidden environment astronomical positioning system based on neutrino signal, it is characterised in that: hidden environment astrofix system
System is mounted on carrier to be positioned, including neutrino detector, horizon instrument refer to northern instrument, clock and processor；
Neutrino detector is for measuring day heart direction vector in the projection of carrier coordinate system；Horizon instrument and the northern instrument of finger are for measuring
Posture of the carrier relative to geographic coordinate system；Clock provides reference time information for carrier navigator fix；
Processor is converted according to the posture that carrier obtains carrier coordinate system to geographic coordinate system relative to the posture of geographic coordinate system
Matrix, the coordinate that is projected through by day heart direction vector in carrier coordinate system are converted to day heart direction vector in geographic coordinate system
Projection；Current time day heart direction vector is obtained in the throwing of Earth central inertial system by reference to temporal information and sun ephemeris computation
Shadow, and day heart direction vector is converted in the projection of the connected system of the earth by coordinate；It is obtained locating for carrier by analytical Calculation
The latitude and longitude information of position.
11. the hidden environment astronomical positioning system according to claim 10 based on neutrino signal, it is characterised in that: day
Heart direction vector is as follows in the projection calculation formula of geographic coordinate system:
Wherein, SbIndicate the day heart direction vector obtained by neutrino detector measurement in the projection of carrier coordinate system,Table
Show through horizon instrument and refers to transition matrix of the carrier coordinate system of northern instrument measurement to geographic coordinate system, SnIndicate day heart direction vector
In the projection of geographic coordinate system.
12. the hidden environment astronomical positioning system according to claim 10 based on neutrino signal, it is characterised in that: simultaneously
The method for being converted to projection of the day heart direction vector in the connected system of the earth by coordinate are as follows:
Wherein, SiIndicate day heart direction vector Earth central inertial system projection,Indicating that Earth central inertial system is connected to the earth is
Transition matrix, SeIndicate day heart direction vector in the projection of the connected system of the earth.
13. the hidden environment astronomical positioning system according to claim 10 based on neutrino signal, it is characterised in that: solution
The method that analysis calculates the latitude and longitude information of carrier present position are as follows:
Wherein,Indicate that the earth is tied to the transition matrix of geographic coordinate system admittedly, expression formula is as follows:
Wherein, L and λ respectively indicates the latitude and longitude of carrier.
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