基于黎曼信息几何的分布式多源协同高精度导航技术研究

Focusing on the urgent need for precise navigation and positioning for the military and civilian users, distributed cooperative navigation fuse independent distributed information of multi-source navigation to improve the navigation accuracy. However, the heterogeneity of distributed navigation source and the time-space-frequency inconsistency would cause the difficulty of fusion and decline positioning accuracy of navigation. Our project intensive study the relationship between the information probability and the positioning accuracy, then, explore the core problems of the establishment of Riemannian information geometric manifold, the mapping correlation between the direction finding and distance measuring parameters and so on, from the view of information probability, the theoretical model and method of distributed collaborative navigation information fusion under Riemannian information geometry architecture are creatively proposed. Our research breakthroughs in the thinking shackles of the existing cooperative navigation technology which achieve fusion by the signal data or the positioning results; reveal the related characteristics between the position, munber and environmental factors of distributed navigation source with integrity under the cooperative navigation, complete the establishment of the integrity mutual evaluation system for distributed navigation sources, at last, proposed new method and theory of distributed cooperative navigation in Riemannian information geometry. . The expected results will further promote the perfection and maturity of navigation theory and technology, provide technical support for intelligent navigation in military and civil fields such as smart city, cloud war and so on, it has very important theoretical significance and application value.

针对军民用户对高精度导航定位的迫切需求，分布式多源协同导航通过独立分布导航源的信息融合，实现导航精度的提升。但是分布式导航源类型的异构性以及时-空-频不一致性会造成融合难度大，导致定位精度下降。本项目深入研究导航源信息概率与定位精度的相关规律，对黎曼信息几何流形建立机制、导航源之间测向测距参数映射关联等核心问题进行探索，从信息概率的角度创造性提出黎曼信息几何架构下分布式协同导航信息融合的理论模型和技术方案，该技术突破现有协同导航技术仅从信号数据或定位结果实现融合的思维桎梏；揭示协同导航下分布式导航源位置、数量、环境因素与完好性的相关特性，完成分布式导航源完好性互评估体系的建立，最终提出黎曼信息几何下分布式协同导航新方法和理论。预期成果将进一步促进导航理论和技术的完善与成熟，为智慧城市，云战争等军民领域的智能导航提供技术支持，具有十分重要的理论意义和应用价值。

随着智慧城市，多维战场对实时高精度导航的迫切需求，以卡尔曼为代表的的传统融合方式由于计算复杂度大，时延过高等固有因素无法满足。随着惯性导航，视觉导航，雷达导航，激光导航等技术的快速发展，如何完成分布式、不同类型的导航源信息快速融合，实现实时，高精度导航在理论上和实践上具有重要的现实意义。针对此，本项目创造性的将各类导航源信息转化为定位信息概率函数，实现了导航参数格式的统一。由于概率函数为二维函数，无法满足三维定位的需求，本项目将定位信息概率函数在黎曼超二维空间上实现融合，通过映射关系，实现了三维导航定位，并提出了基于因子图的分布式导航源互评估方法。重点解决了分布式环境下，不同类型导航源信息的快速融合，实现了实时性，高精度协同导航。本项目在国内外重要刊物和会议上发表论文27篇，其中SCI检索12篇，EI检索15篇，申请专利8项，撰写教材一部。基于本项目的研究成果，超额构建了分布式多源协同导航实验平台，初步实现20个节点3种以上导航源的实验测试，结果表明本项目所提出的方法能够实现全类型环境下的协同导航。