A Non-Autonomous Doppler Navigation Method With Navigation Beacon

A moving platform equipped with a Doppler receiver detects and receives signals from navigation beacon stations at a fixed speed and time interval. After obtaining three Doppler frequency shifts in succession, on the one hand, the moving speed of the moving platform itself is calculated by comprehensively using the velocity vector equation and the velocity analytical formula given by the Doppler frequency shift and the rate of change relationship. On the other hand, the virtual path difference is calculated by the path difference-frequency shift equation, and the virtual double-base array is constructed by using the motion trajectory of the single detection station. Thus, the distance and orientation of the moving platform relative to the beacon station can be directly obtained by using the double-base path difference positioning theory.