CN102508197B - Passive target positioning method based on channel capacity - Google Patents

Abstract

The invention provides a passive target positioning method based on channel capacity. The passive target positioning method includes steps of observing a target T by various alternative observation stations, obtaining observation angles based reference directions of the alternative observation stations as reference lines, transmitting results to a control center of a direction-finding cross-bearing positioning system, combining relative position relation of the observation stations, optionally selecting two observation stations A and B to form a triangular positioning system with the target T, calculating an observation angle with a connecting line of the two observation stations as a reference line, calculating channel capacity C of the system, comparing system channel capacities of various triangular positioning systems, and positioning the target T by means of selecting the triangular positioning system with the highest system channel capacity. Measurement errors of each observation stations are taken into consideration, shortcomings of a minimum positioning fuzzy region area method and a minimum circular probable error method when the minimum positioning fuzzy region area method and the minimum circular probable error method are applied to the direction-finding cross-bearing positioning system are avoided, influence of high difference of the measurement errors of the observation stations to positioning precision is reduced, and the observation angles the observation stations can be quickly set according to the channel capacities.

Description

Passive object localization method based on channel capacity

Technical field

What the present invention relates to is a kind of localization method.

Background technology

The standard of weighing at present direction finding cross bearing system accuracy mainly contains two kinds of the minimum and circular proable error minimums of location ambiguity district area.With two stations plane positioning is example, all there is certain one-sidedness in these two kinds of methods, its bearing accuracy is all relevant to the distance (deriving by the length of baseline and the view angle of sensor) of baseline with the length or the target of two research station baselines, and only under the situation of the measuring error unanimity of two research stations, the bearing accuracy that obtains is only the highest.But when its measuring error differed big, even location ambiguity district area and circular proable error are all got minimum value, the bearing accuracy of this moment neither be the highest.Therefore, these two kinds of methods have inevitable inadaptability in direction finding cross bearing system applies.

Summary of the invention

The object of the present invention is to provide the view angle that to dispose the research station according to the size of channel capacity fast, to reach the passive object localization method based on channel capacity of the highest passive target location accuracy.

The object of the present invention is achieved like this:

The present invention is based on the passive object localization method of channel capacity, it is characterized in that:

(1) each alternative research station is observed target T, and obtaining is the view angle of datum line separately with the reference direction, and the result is sent to direction finding cross bearing System Control Center;

(2) direction finding control center receives the view angle of each research station, in conjunction with each research station relative position relation, choosing two research station A and B and target T arbitrarily and constitute the triangle positioning system, is that initial point, AB direction are that X-axis is set up coordinate system with A, and the distance between A and the B is L, T is respectively X and Y apart from the distance of Y-axis and X-axis, then the coordinate of A, B, T is respectively (0,0), (L, 0), (X, Y), calculating with two research station lines is the view angle of datum line

With

(3) establish

K is a coefficient, computing system channel capacity C: $C=\frac{1}{2}\log (1+\frac{{\mathrm{<figure-callout\; id="2"\; label="sin"\; filenames="HDA0000094777440000011.png"\; state="\{\{state\}\}">sin</figure-callout>}}^2\widehat{{\mathrm{\&theta;}}_2}{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="HDA0000094777440000011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2\widehat{{\mathrm{\&theta;}}_1}{\sin }^2(\widehat{{\mathrm{\&theta;}}_2}-\widehat{{\mathrm{\&theta;}}_1})}{({\sin }^2\widehat{{\mathrm{\&theta;}}_2}{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="HDA0000094777440000011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2\widehat{{\mathrm{\&theta;}}_2}+K{\sin }^2\widehat{{\mathrm{\&theta;}}_1}{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="HDA0000094777440000011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2\widehat{{\mathrm{\&theta;}}_1}){\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})+\frac{1}{2}\log (1+\frac{{\mathrm{<figure-callout\; id="2"\; label="sin"\; filenames="HDA0000094777440000011.png"\; state="\{\{state\}\}">sin</figure-callout>}}^2\widehat{{\mathrm{\&theta;}}_2}{\sin }^2\widehat{{\mathrm{\&theta;}}_1}{\sin }^2(\widehat{{\mathrm{\&theta;}}_2}-\widehat{{\mathrm{\&theta;}}_1})}{({\sin }^4\widehat{{\mathrm{\&theta;}}_2}+K{\sin }^4\widehat{{\mathrm{\&theta;}}_1}){\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})$

(4) calculate the system channel capacity of the triangle positioning system of all any two research stations and target configuration, the system channel capacity of each triangle positioning system relatively, the triangle positioning system of selecting system channel capacity maximum is to target T location, its coordinate

Advantage of the present invention is: from information-theoretical angle, the measuring error of each research station is all taken into account, avoid the minimum and deficiency of minimum these the two kinds of methods of circular proable error in direction finding cross bearing system applies of location ambiguity district area, reduce to differ big influence to bearing accuracy by the research station measuring error, can dispose the view angle of research station according to the size of channel capacity fast, to reach the highest passive target location accuracy.

Description of drawings

Fig. 1 is the two stations planar parasitic target localization synoptic diagram that the present invention is based on direction finding;

Fig. 2 is the channel model synoptic diagram of the two station of the present invention planar parasitic target localization;

Fig. 3 applies channel model synoptic diagram to the passive target localization of three-dimensional for the present invention;

Fig. 4 is a schematic flow sheet of the present invention;

Fig. 5 is two stations planar parasitic object locating system synoptic diagram (is example with 3 standby research stations), A among the figure, and B, C are standby research station.

Embodiment

For example the present invention is done description in more detail below in conjunction with accompanying drawing:

In conjunction with Fig. 1～5, in passive object locating system (is example with two stations plane positioning), in the passive cross bearing system based on direction finding, research station A (0,0) and B (L, 0) record target T (X, position angle Y) are

With

Measuring error

With

Normal Distribution

Obtain the coordinate of target T thus

And satisfy and distribute

Suppose

Intersection angle wherein

Suppose that the signal that research station A and B receive target T emission is respectively S _AAnd S _B, amplitude is respectively a and b, respective channel Gaussian noise n _AAnd n _BNormal Distribution

Because target T is parallel Gaussian channel with marking T to the channel of research station B to research station A, then received signal S _AWith S _BSeparate, received signal S=(S _A, S _B)=S _A+ jS _B, obey distribution

If

Then the two has the identical mathematic(al) representation of form, the abstract in view of the above channel model of setting up out passive target localization.Obtain the accurate coordinate of target T, then requirement

The error ellipse area that constitutes is as far as possible little.In channel model, it is as far as possible little to require the research station to receive the bit error rate that target T transmits, also promptly will be

The error ellipse area that constitutes is as far as possible little.From information theory view, channel capacity is big more, and under same transfer rate, the bit error rate is also low more, so channel capacity C also can be used as and weighs target localization and estimate accurately.Also be that channel capacity is big more, bearing accuracy is high more.

The object of the present invention is achieved like this: (is example with two stations plane positioning) first step, and each alternative research station is observed target T, and obtaining is the view angle of datum line separately with the reference direction, and the result is sent to direction finding cross bearing System Control Center; In second step, direction finding control center receives the view angle of each research station, in conjunction with each research station relative position relation, choose two research station A (0,0) and B (L, 0) and target T (X arbitrarily, Y) constitute the triangle positioning system, calculating with two research station lines is the view angle of datum line With

In the 3rd step, suppose

Computing system channel capacity C

$C=\frac{1}{2}\log (1+\frac{{\sin }^2\widehat{{\mathrm{\&theta;}}_2}{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="HDA0000094777440000011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2\widehat{{\mathrm{\&theta;}}_1}{\sin }^2(\widehat{{\mathrm{\&theta;}}_2}-\widehat{{\mathrm{\&theta;}}_1})}{({\sin }^2\widehat{{\mathrm{\&theta;}}_2}{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="HDA0000094777440000011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2\widehat{{\mathrm{\&theta;}}_2}+K{\sin }^2\widehat{{\mathrm{\&theta;}}_1}{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="HDA0000094777440000011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2\widehat{{\mathrm{\&theta;}}_1}){\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})+\frac{1}{2}\log (1+\frac{{\sin }^2\widehat{{\mathrm{\&theta;}}_2}{\sin }^2\widehat{{\mathrm{\&theta;}}_1}{\sin }^2(\widehat{{\mathrm{\&theta;}}_2}-\widehat{{\mathrm{\&theta;}}_1})}{({\sin }^4\widehat{{\mathrm{\&theta;}}_2}+K{\sin }^4\widehat{{\mathrm{\&theta;}}_1}){\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})$

The 4th goes on foot, and compares the system channel capacity of each triangle positioning system, and the triangle positioning system of selecting system channel capacity maximum gets its coordinate to target T location

The key of location is that direction finding control center chooses the suitable high bearing accuracy of research station acquisition, by the positional information of each research station, according to the Standard Selection configuration research station of institute's angle measurement degree and measurement bearing accuracy.With two stations plane positioning, 3 standby research stations are example, select the channel model of passive target localization for use, determine that the bearing accuracy of the triangle positioning system that two research stations and target T constitute is the highest.

1. standby research station A, B, the relative position of C be by α, and β determines, suppose under reference direction N, and α=30 °, β=45 °, three research stations are observed target T, and the view angle that obtains is respectively:

2. choose two research stations and target T arbitrarily and constitute the triangle positioning system, by the relative position relation of view angle and research station:

In Δ TAB,

Intersection angle

In Δ TAC,

Intersection angle

In Δ TBC,

Intersection angle

3. suppose K=1, calculate the system channel capacity of all triangle positioning systems:

$C_{\mathrm{TAB}}=\frac{1}{2}\log (1+\frac{{\sin }^2{140}^{\&CenterDot;}{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="HDA0000094777440000011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2{70}^{\&CenterDot;}{\sin }^2{70}^{\&CenterDot;}}{({\sin }^2{140}^{\&CenterDot;}{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="HDA0000094777440000011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2{140}^{\&CenterDot;}+{\sin }^2{70}^{\&CenterDot;}{\cos }^2{70}^{\&CenterDot;}){\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})+\frac{1}{2}\log (1+\frac{{\sin }^2{140}^{\&CenterDot;}{\sin }^2{70}^{\&CenterDot;}{\sin }^2{70}^{\&CenterDot;}}{({\sin }^4{140}^{\&CenterDot;}+{\sin }^4{70}^{\&CenterDot;}){\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})$

$=\frac{1}{2}\log (1+\frac{0.1234}{{\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})(1+\frac{0.3390}{{\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})$

$C_{\mathrm{TAC}}=\frac{1}{2}\log (1+\frac{{\sin }^2{130}^{\&CenterDot;}{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="HDA0000094777440000011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2{40}^{\&CenterDot;}{\sin }^2{90}^{\&CenterDot;}}{({\sin }^2{130}^{\&CenterDot;}{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="HDA0000094777440000011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2{130}^{\&CenterDot;}+{\sin }^2{40}^{\&CenterDot;}{\cos }^2{40}^{\&CenterDot;}){\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})+\frac{1}{2}\log (1+\frac{{\sin }^2{130}^{\&CenterDot;}{\sin }^2{40}^{\&CenterDot;}{\sin }^2{90}^{\&CenterDot;}}{({\sin }^4{130}^{\&CenterDot;}+{\sin }^4{40}^{\&CenterDot;}){\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})$

$=\frac{1}{2}\log (1+\frac{0.7101}{{\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})(1+\frac{0.4707}{{\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})$

$C_{\mathrm{TBC}}=\frac{1}{2}\log (1+\frac{{\sin }^2{85}^{\&CenterDot;}{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="HDA0000094777440000011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2{55}^{\&CenterDot;}{\sin }^2{30}^{\&CenterDot;}}{({\sin }^2{85}^{\&CenterDot;}{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="HDA0000094777440000011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2{85}^{\&CenterDot;}+{\sin }^2{55}^{\&CenterDot;}{\cos }^2{55}^{\&CenterDot;}){\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})+\frac{1}{2}\log (1+\frac{{\sin }^2{85}^{\&CenterDot;}{\sin }^2{55}^{\&CenterDot;}{\sin }^2{30}^{\&CenterDot;}}{({\sin }^4{85}^{\&CenterDot;}+{\sin }^4{55}^{\&CenterDot;}){\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})$

$=\frac{1}{2}\log (1+\frac{0.3575}{{\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})(1+\frac{0.1160}{{\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})$

4. the triangle positioning system of selective system channel capacity maximum:

Because C _TAC＞C _TAB＞C _TBCSo, choosing research station A, C carries out cross bearing to target T in the triangle positioning system.

Claims (1)

1. based on the passive object localization method of channel capacity, it is characterized in that:

(1) each alternative research station is observed target T, and obtaining is the view angle of datum line separately with the reference direction, and the result is sent to direction finding cross bearing System Control Center;

(2) direction finding control center receives the view angle of each research station, in conjunction with each research station relative position relation, chooses two research station A and B and target T arbitrarily and constitutes the triangle positioning system, with A is that initial point, AB direction are that X-axis is set up coordinate system, and the distance between A and the B is L, and T is respectively X and Y apart from the distance of Y-axis and X-axis, then the coordinate of A, B, T is respectively (0,0), (L, 0), (X, Y), research station A (0,0) and B (L, 0) record target T (X, position angle Y) be

With

Measuring error

With

Normal Distribution

Calculating is the view angle of datum line with two research station lines

With

(3) establish

K is a coefficient, computing system channel capacity C: $C=\frac{1}{2}\log (1+\frac{{\sin }^2{\widehat{\mathrm{\&theta;}}}_2{\cos }^2{\widehat{\mathrm{\&theta;}}}_1{\sin }^2({\widehat{\mathrm{\&theta;}}}_2-{\widehat{\mathrm{\&theta;}}}_1)}{({\sin }^2{\widehat{\mathrm{\&theta;}}}_2{\cos }^2{\widehat{\mathrm{\&theta;}}}_2+K{\sin }^2{\widehat{\mathrm{\&theta;}}}_1{\cos }^2{\widehat{\mathrm{\&theta;}}}_1){\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2})+\frac{1}{2}\log (1+\frac{{\sin }^2{\widehat{\mathrm{\&theta;}}}_2{\sin }^2{\widehat{\mathrm{\&theta;}}}_1{\sin }^2({\widehat{\mathrm{\&theta;}}}_2-{\widehat{\mathrm{\&theta;}}}_1)}{({\sin }^4{\widehat{\mathrm{\&theta;}}}_2+K{\sin }^4{\widehat{\mathrm{\&theta;}}}_1){\mathrm{\&sigma;}}_{\widehat{\mathrm{\&theta;}}1}^2});$

(4) calculate the system channel capacity of the triangle positioning system of all any two research stations and target configuration, the system channel capacity of each triangle positioning system relatively, the triangle positioning system of selecting system channel capacity maximum is to target T location, its coordinate

$\hat{Y}=L\sin {\widehat{\mathrm{\&theta;}}}_2\sin {\widehat{\mathrm{\&theta;}}}_1/\sin ({\widehat{\mathrm{\&theta;}}}_2-{\widehat{\mathrm{\&theta;}}}_1).$

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