CN107015199A - A kind of double unmanned plane direction finding time difference positioning methods for considering UAV Attitude angle - Google Patents
A kind of double unmanned plane direction finding time difference positioning methods for considering UAV Attitude angle Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
A kind of double unmanned plane direction finding time difference positioning methods for considering UAV Attitude angle, comprise the following steps：(1) azimuth, the angle of pitch and the echo signal that echo signal is measured under the airborne coordinate system of main website unmanned plane reach the time difference of main website and extension station；(2) data calculation measured according to step (1) goes out target with main website unmanned plane apart from r0；(3) according to the distance of target and main website unmanned plane, main website unmanned plane measures the azimuth of echo signal and the angle of pitch calculates coordinate of the target under main website unmanned aerial vehicle onboard coordinate system；(4) coordinate of the target under earth right angle coordinate system is obtained by the coordinate conversion relation of relative coordinate system.Unmanned plane itself observation coordinate system is converted into earth right angle coordinate system by the method for the present invention by the conversion of coordinate system, realizes that unmanned plane carries out the position resolving of direction finding positioning using TDOA to target, and establish directly contacting between target location and UAV Attitude.
Description
Technical field
The present invention relates to passive location technical field, during double unmanned plane direction findings at especially a kind of consideration UAV Attitude angle
Poor localization method.
Background technology
On following aerial battlefield of informationization, unmanned plane cooperation will be one of main air battle mode.Unmanned plane
Executable combat duty have intelligence reconnaissance, target positioning strike etc., due to unmanned plane have small volume, mobility strong and
The advantages of good concealment, prolonged scout can be carried out to unfriendly target and is positioned, exact position is provided for strike unfriendly target
Information.But it is limited that the characteristics of unmanned plane small volume, also results in the payload that unmanned plane can carry.It is generally used for having for positioning
Source radar is, it is necessary to powerful signal launch installation, therefore active detection equipment is generally not suitable for UAV flight.Visited with active
Measurement equipment is compared, and passive detection equipment need not simply receive target and outwardly launch or instead to detected target transmission signal
The signal penetrated, therefore the general lighter in weight of passive detection equipment, are relatively adapted to UAV flight.Nothing is carried by multiple UAVs
The passive location system that source detection equipment is constituted, it is more hidden when being positioned to unfriendly target, timely and accurately, and overcome
Due to being influenceed ground passive system to realize the shortcoming of low latitude/ground target positioning by earth curvature.Passive location system
It can position to determine the particular location of the carrying radiation source device by the radiation source to radiation signal.Due to it have it is passive
Characteristic, will not be disturbed by enemy's electronic reconnaissance equipment, compare and be adapted in the case of enemy is ignorant, unfriendly target is entered
Row is positioned and monitored for a long time, is interfered in active location equipment and is played supplementary function when can not work.
Unmanned plane passive location system is compared with the passive location means such as ground, carrier-borne with unique advantage, its work
Remote with distance, covering region is big, and maneuverability is strong, dangerous small, does not result in casualties.Unmanned plane positioning is widely used
In military and civilian field, various tasks are performed in the wild, it is necessary to which unmanned plane positioning reaches the mesh such as information gathering, data fusion
, meanwhile, unmanned plane positioning also being capable of the real-time guidance information of precision guided weapon offer.In many Military Applications of unmanned plane
In, unmanned plane target positioning function is to realize the precondition of these applications.Only realize high-precision target positioning, Cai Nengshi
The military mission such as is penetrated in existing intelligence reconnaissance, cannon school.
The parameter that is obtained during according to observation station to target observation is different, passive location can be divided into Doppler frequency difference positioning,
Positioning using TDOA, direction cross positioning, the time difference and frequency difference alignment by union and direction finding and time difference alignment by union.Direction cross positioning leads to
The angle of arrival that multiple observation stations measure target emanation signal is crossed, target location solution equation, mesh are set up according to angle parameter is measured
Target positioning precision is influenceed than larger by observed range, when being observed to distant object, due to the angle sheet of observation
Body is just smaller, therefore the angular observation error of very little, it will the position error to target produces violent influence.Positioning using TDOA
It is the time difference that target emanation signal is received according to different observation stations, the position of target is resolved, the location method one
As constituting by four observation stations, be a kind of relatively small location method of current position error.But needed because system is constituted
Four observation stations, and have higher requirement to the time unification of four observation stations, these factors will be unfavorable for unmanned plane conduct
Set up passive location system in observation station.Doppler frequency difference positioning is that the difference on the frequency for measuring echo signal according to different observation stations is carried out
Target location resolve, in three dimensions target position when, it is necessary at least four observation stations and between observation station and target will
There is relative motion, positioning precision is influenceed larger by the geometric configuration of observation platform.Direction finding positioning using TDOA is collected mail by docking
Number angle and the observation of the time difference carry out target positioning, make use of multiple observed quantities compared to the single time difference and DF and location
Information, is improving positioning precision while reducing the complexity of system, is at least only needing to two UAV flight's passive detections and set
It is standby to constitute direction finding time difference passive location system.Direction finding time difference position technolot is the target spoke received according to different observation stations
Penetrate the time difference of signal and the direction of arrival of target emanation signal to determine the position of target, itself need not believe objective emission
Number, it is adaptable to the target that can launch radar signal is positioned, such as with sounding radar ground reconnaissance equipment, carries radar
Armament systems etc..
In terms of Airborne Passive positioning, the U.S. maintains the leading position, wherein representative has the cooperation of F-22 fighter planes
Alignment system, the Precise strike alignment system (PLSS) of establishment.The passive positioning via network system of F-22 fighter formations, by F-
The APG-77 radars of ALR-94 RADAR WARNINGs receiver and passive work mode are carried on 22 fighter planes as passive detection equipment,
Target is accurately positioned；Precision strike alignment system (PLSS) is to regard multi rack reconnaissance plane as the sight in passive location system
Survey station, is observed to target emanation source and observation data is transferred back into surface-based observing station, target position is carried out according to related data
The resolving put.Institute of scientific and technological group 51 of such as China Electronics of domestic related universities and colleges and research institute, 29 institutes, Aviation Industry of China group
8511 institutes, Xian Electronics Science and Technology University etc. has also held the flight test of correlation to unit as the passive location of observation station, closes
It is still immature at present in multimachine passive location, but it is a kind of effective means for the quick high accuracy positioning that can realize target,
Relative to unit passive location, it has higher positioning precision；Compared with the surface-based passive location in observation station, it can
Positioned with the target reconnaissance for more neatly realizing specific region.
In current existing direction finding time difference position technolot, observation station is generally surface-based observing station, and it regards observation station as one more
Individual particle carries out positioning calculation to target, and still suffers from location ambiguity problem, and target location solution is not unique.Unmanned plane is used as observation
When standing to target progress direction finding positioning using TDOA, because itself posture of unmanned plane is being continually changing, attitude information can influence target
Positioning, passes through emulation experiment, it was demonstrated that attitude angle observation error can have a certain impact to position error.And the conventional lateral time difference
Localization method, the particularly alignment system using earth station as observation station all use unmanned plane itself observation coordinate system, therefore can only
It regard observation station as a particle, it is impossible to consider the influence of UAV Attitude angle error.
The content of the invention
The technical problems to be solved by the invention are that there is provided during a kind of double unmanned plane direction findings at consideration UAV Attitude angle
Poor localization method, can realize unmanned plane to target carry out direction finding positioning using TDOA position resolve, and establish target location with
Direct contact between UAV Attitude.
Determine in order to solve the above technical problems, the present invention provides a kind of double unmanned plane direction finding time differences for considering UAV Attitude angle
Position method, comprises the following steps：
(1) azimuth, the angle of pitch and the echo signal that echo signal is measured under the airborne coordinate system of main website unmanned plane are arrived
Up to the time difference of main website and extension station；
(2) data calculation measured according to step (1) goes out target with main website unmanned plane apart from r0；
(3) azimuth and the angle of pitch of echo signal are measured according to target and the distance of main website unmanned plane, main website unmanned plane
Calculate coordinate of the target under main website unmanned aerial vehicle onboard coordinate system；
(4) coordinate of the target under earth right angle coordinate system is obtained by the coordinate conversion relation of relative coordinate system.
It is preferred that, the earth rectangular co-ordinate OXYZ, origin is the centre of sphere of earth ellipsoid；Measure rectangular coordinate system oxyz, origin
For observation station center；The airborne coordinate system S of main website0Xyz, origin is carrier aircraft center；
Earth right angle coordinate system and the matrix relationship formula of measurement rectangular coordinate system are specially：Assuming that target is sat at the earth right angle
Mark system coordinate that is lower and measuring under rectangular coordinate system is respectively (X, Y, Z) and (x, y, z), and the coordinate of observation station is sat at the earth right angle
It is respectively (X under mark system and earth coordinates0, Y0, Z0) and (L0, B0, H0), then earth right angle coordinate system is with measuring rectangular coordinate system
Matrix expression it is as follows：
In formula：
The measurement rectangular coordinate system of observation station is specially with the matrix relationship formula of airborne coordinate system：Assuming that target is sat airborne
Coordinate under mark system and under observation station measurement rectangular coordinate system is respectively (xb, yb, zb) and (x, y, z), due to the observation station of foundation
Measurement rectangular coordinate system overlapped with the origin of coordinates of airborne coordinate system, and all be observation station barycenter, therefore target see
The observation rectangular coordinate system and the position relationship of airborne coordinate system of survey station are as follows：
In formula：
Wherein, δa、δb、δcFor the attitude angle (roll angle, yaw angle and the angle of pitch) of carrier aircraft.
It is preferred that, localization method detailed process is：Assuming that in the airborne coordinate system of main website, the coordinate of target is (xs, ys,
zs), the coordinate of extension station is (x1s, y1s, z1s), target and the position relationship of main website and extension station in can obtain：
Assuming that the position of target is respectively S under main website, extension station and earth right angle coordinate system0(X0,Y0,Z0)、S1(X1,Y1,
Z1), S (X, Y, Z), in the airborne coordinate system S of main website0Under xyz, the position of target is S'(xs,ys,zs), extension station for S1'(x1s,
y1s,z1s), wherein the position of main website and extension station under earth right angle coordinate system is known quantity, under the airborne coordinate system of main website, is surveyed
It is α that target, which is obtained, with respect to the azimuth of main website, and the angle of pitch is β, and the time difference that main website and extension station receive echo signal is Δ t, can
Time difference is converted into range difference Δ r (the Δ r=c Δs t=r that target reaches two observation stations1-r0)；
Can be by the positional representation of target under the airborne coordinate system of main website：
If trying to achieve main website range-to-go r0, you can obtain coordinate of the target under the airborne coordinate system of main website, then root
Transition matrix Q is obtained according to the attitude information of main website unmanned plane now1, the target location coordinate under the airborne coordinate system of main website can be become
Main website is changed to measure under rectangular coordinate system；Coordinate finally according to main website under earth right angle coordinate system and under earth coordinates
(X0, Y0, Z0) and (L0, B0, H0) obtain transition matrix Q2, target can be obtained in earth right angle coordinate system by coordinate system transformation
Under position it is as follows：
In formula (8), (X, Y, Z) is coordinate of the target under earth right angle coordinate system,WithFor the conversion of coordinate system
Matrix, (X0, Y0, Z0) it is coordinate of the main website under earth right angle coordinate system.
It is preferred that, target is to subjective survey station apart from r0For unknown quantity to be tried to achieve, its specific algorithm is：
It can be obtained by formula (6)
r1 2-r0 2=x1s 2+y1s 2+z1s 2-2(x1sxs+y1sys+z1szs) (9)
By Δ r=r1-r0It can obtain
Δr2=r1 2-r0 2-2Δrr0 (10)
Formula (9) and formula (10) simultaneous are disappeared r1 2-r0 2Afterwards, it can obtain
2Δrr0+2(x1sxs+y1sys+z1szs)=x1s 2+y1s 2+z1s 2-Δr2 (11)
By the position S'(x of target under the airborne coordinate system of main website in formula (7)s,ys,zs) bring into formula (11), it can obtain
The matrixing relation of rectangular coordinate system, observation station rectangular co-ordinate are measured according to earth right angle coordinate system and observation station
System and the matrixing relation of airborne coordinate system, can be by coordinate transform of the extension station under earth right angle coordinate system to the airborne of main website
Under coordinate system, therefore following relation can be obtained：
Wherein：L0、B0The respectively warp of main website unmanned plane now
Degree and latitude；By main website, UAV Attitude angle information can be obtained
Because Q1With Q2Two matrixes are metWherein E is unit matrix, so can obtain：
It is that can obtain target to subjective survey station apart from r by formula (12), (13), (14)0For
Wherein：S1'(x1s,y1s,z1s) can be obtained by formula (13)；
According to obtained target to subjective survey station apart from r0And azimuth angle alpha, the angle of pitch β of target, it can calculate
Target location coordinate under the airborne coordinate system of main website, as shown in formula (7)；It is further according to formula (8) that the coordinate of target is airborne from main website
Coordinate system transformation obtains the position S (X, Y, Z) of target into earth right angle coordinate system.
Beneficial effects of the present invention are：Passive location is carried out to target present invention is mainly used for unmanned plane, passes through two nothings
It is man-machine that direction finding positioning using TDOA is carried out to target, the location ambiguity problem of traditional direction finding positioning using TDOA calculation method is not only solved,
And unmanned plane itself attitude parameter is incorporated into target location resolving equation；It is continuous for unmanned plane observation station location status
The characteristics of change, UAV Attitude change is established with target location and directly contacted.The method of the present invention passes through coordinate system
Conversion, earth right angle coordinate system is converted into by unmanned plane itself observation coordinate system, realizes that unmanned plane carries out the direction finding time difference to target
The position of positioning is resolved, and establishes directly contacting between target location and UAV Attitude.In analysis unmanned plane positioning accurate
When spending, theoretical foundation can be provided further to improve unmanned plane positioning precision with the influence of quantitative analysis UAV Attitude error,
Also the selection for UAV Attitude sensor provides theoretical foundation.
Brief description of the drawings
Fig. 1 is the earth right angle coordinate system and the position relationship schematic diagram of measurement rectangular coordinate system of the present invention.
Fig. 2 is double unmanned plane direction finding positioning using TDOA model schematics of the present invention.
Fig. 3 is target and unmanned plane observation station position relationship schematic diagram under the airborne coordinate system of main website of the invention.
Fig. 4 is the theoretical direction finding positioning using TDOA GDOP distribution maps of the present invention.
Fig. 5 is double unmanned plane direction finding positioning using TDOA GDOP distribution maps of the present invention.
Fig. 6 is the double unmanned plane direction finding positioning using TDOAs and theoretical direction finding positioning using TDOA error contrast curve of the present invention.
Fig. 7 is unmanned plane direction finding positioning using TDOA GDOP distribution maps after 0.2 ° of introducing attitude error of the invention.
Embodiment
As depicted in figs. 1 and 2, it is necessary to which the target location coordinate under the airborne coordinate system of main website is transformed into the earth rectangular co-ordinate
Under system, the earth rectangular co-ordinate OXYZ is mainly used here, and origin is the centre of sphere of earth ellipsoid；Rectangular coordinate system oxyz is measured, it is former
Point is observation station center；The airborne coordinate system S of main website0Xyz, origin is carrier aircraft center.Conversion between relative coordinate system is given below
Expression formula.
Earth right angle coordinate system and the matrix relationship formula of measurement rectangular coordinate system, it is assumed that target is under earth right angle coordinate system
Be respectively (X, Y, Z) and (x, y, z) with the coordinate under measurement rectangular coordinate system, the coordinate of observation station earth right angle coordinate system with
It is respectively (X under earth coordinates0, Y0, Z0) and (L0, B0, H0), then earth right angle coordinate system with measurement rectangular coordinate system matrix
Expression formula is as follows：
In formula：
The measurement rectangular coordinate system of observation station and the matrix relationship formula of airborne coordinate system, it is assumed that target is under airborne coordinate system
It is respectively (x to measure the coordinate under rectangular coordinate system with observation stationb, yb, zb) and (x, y, z).Due to the measurement of the observation station of foundation
Rectangular coordinate system is overlapped with the origin of coordinates of airborne coordinate system, and is all the barycenter of observation station, therefore target is in observation station
Observe rectangular coordinate system and the position relationship of airborne coordinate system is as follows：
In formula：
Wherein, δa、δb、δcFor the attitude angle (roll angle, yaw angle and the angle of pitch) of carrier aircraft.
As illustrated in fig. 2, it is assumed that in the airborne coordinate system of main website, the coordinate of target is (xs, ys, zs), the coordinate of extension station is
(x1s, y1s, z1s).Target and the position relationship of main website and extension station in can obtain：
Assuming that the position of target is respectively S under main website, extension station and earth right angle coordinate system0(X0,Y0,Z0)、S1(X1,Y1,
Z1)、S(X,Y,Z).As shown in figure 3, in the airborne coordinate system S of main website0Under xyz, the position of target is S'(xs,ys,zs), extension station
For S1'(x1s,y1s,z1s), wherein the position of main website and extension station under earth right angle coordinate system is known quantity.In the airborne seat of main website
Under mark system, the azimuth for measuring target with respect to main website is α, and the angle of pitch is β, and main website and extension station receive the time difference of echo signal
For Δ t, can be converted into range difference Δ r (the Δ r=c Δs t=r that target reaches two observation stations the time difference1-r0)。
By the target and the position relationship of main website in Fig. 3, can be by the positional representation of target under the airborne coordinate system of main website：
From formula (7), if trying to achieve main website range-to-go r0, you can target is obtained under the airborne coordinate system of main website
Coordinate, obtain transition matrix Q further according to the attitude information of main website unmanned plane now1, can be by the mesh under the airborne coordinate system of main website
Cursor position coordinate transform is measured under rectangular coordinate system to main website.Sat finally according to main website under earth right angle coordinate system with the earth
Coordinate (X under mark system0, Y0, Z0) and (L0, B0, H0) obtain transition matrix Q2, target can be obtained big by coordinate system transformation
Position under ground rectangular coordinate system is as follows：
In formula (8), (X, Y, Z) is coordinate of the target under earth right angle coordinate system,WithFor the conversion of coordinate system
Matrix, (X0, Y0, Z0) it is coordinate of the main website under earth right angle coordinate system.Wherein target to subjective survey station apart from r0To wait to ask
The unknown quantity obtained, therefore need below to r0Solved.
It can be obtained by formula (6)
r1 2-r0 2=x1s 2+y1s 2+z1s 2-2(x1sxs+y1sys+z1szs) (9)
By Δ r=r1-r0It can obtain
Δr2=r1 2-r0 2-2Δrr0 (10)
Formula (9) and formula (10) simultaneous are disappeared r1 2-r0 2Afterwards, it can obtain
2Δrr0+2(x1sxs+y1sys+z1szs)=x1s 2+y1s 2+z1s 2-Δr2 (11)
By the position S'(x of target under the airborne coordinate system of main website in formula (7)s,ys,zs) bring into formula (11), it can obtain
The matrixing relation of rectangular coordinate system, observation station rectangular co-ordinate are measured according to earth right angle coordinate system and observation station
System and the matrixing relation of airborne coordinate system, can be by coordinate transform of the extension station under earth right angle coordinate system to the airborne of main website
Under coordinate system, therefore following relation can be obtained：
Wherein：L0、B0The respectively warp of main website unmanned plane now
Degree and latitude；By main website, UAV Attitude angle information can be obtained
Again because Q1With Q2Two matrixes are metWherein E is unit matrix, so can obtain
It is that can obtain target to subjective survey station apart from r by formula (12), (13), (14)0For
Wherein：S1'(x1s,y1s,z1s) can be obtained by formula (13).
According to obtained target to subjective survey station apart from r0And azimuth angle alpha, the angle of pitch β of target, it can calculate
Target location coordinate under the airborne coordinate system of main website, as shown in formula (7).It is further according to formula (8) that the coordinate of target is airborne from main website
Coordinate system transformation obtains the position S (X, Y, Z) of target into earth right angle coordinate system.
The present invention is different from conventional direction finding time difference positioning method, carries out coordinate transform to the target surveyed, by unmanned plane certainly
Body observation coordinate system is changed into earth right angle coordinate system, sets up target and the direct of attitude angle contacts, realize unmanned plane to target
Position resolve.And ordinary direction finding time difference positioning method, regard observation station as a particle, it is impossible to consider unmanned plane itself posture
The influence that angle is brought.By contrast, not only can be with quantitative analysis unmanned plane when the present invention is used in unmanned plane positioning precision
The influence of attitude error, also can provide effective theoretical foundation, while further to carry to the selection of UAV Attitude sensor
High unmanned plane positioning precision provides theories integration.
In order to verify that unmanned plane carries out the computation correctness of direction finding positioning using TDOA as observation station to target, determined
The distribution of position error and direction finding time difference theory orientation error is analyzed.Resolved and calculated according to double unmanned plane direction finding positioning using TDOAs
Method, carries out the position error that Multi simulation running obtains target, and expression formula is as follows：
In formula, N is simulation times, and (x, y, z) is the actual value of target location,For the target state estimator of ith
Value.
Simulated conditions setting is as follows：Station site error σs=0m, angle error σα=σβ=0.1 °, time determination error σΔt=
100ns, main website position (- 5,0,10) km, extension station position (5,0,10) km.To x, y directions are -20km~20km, z=0km
Region in target positioning.Simulation times N=1000.
Fig. 4 is the GDOP distribution maps of theoretical direction finding positioning using TDOA, and Fig. 5 is the GDOP distributions of double unmanned plane direction finding positioning using TDOAs
Both figure, its observation area only considered angle measurement mistake all in x ∈ [- 20 20] km, y ∈ [- 20 20] km, z=0km
Difference and time determination error.Distribution map reflects that the curve of every in the circle of equal altitudes of error in observation area, figure is specified refers to
The position of correspondence error Distribution value.It can be seen that from two width distribution maps, when there is identical error in measurement parameter, double unmanned planes
Direction finding positioning using TDOA computation is consistent with theoretic position error to the position error of target location, illustrates pair proposed
Unmanned plane direction finding positioning using TDOA computation can be resolved to target location.
Fig. 6 is double unmanned plane direction finding positioning using TDOAs and theory in observation area x ∈ [- 20 20] km, y=0km, z=0km
The position error contrast curve of direction finding positioning using TDOA.Further reflect from correlation curve, when there is certain error in observed quantity,
The position error of double unmanned plane direction finding positioning using TDOA computations is consistent with the position error occurred in theory.Therefore, by imitative
The true validity for demonstrating double unmanned plane direction finding positioning using TDOA computations.
It is different from general surface-based observing station, when unmanned plane carries out direction finding positioning using TDOA as observation station to target, nobody
The attitude information of machine can also be taken into account in target positioning, therefore can analyze the observation error of attitude angle to target positioning belt
The error come.Influence is produced to target positioning by the observation error of simulating, verifying attitude angle.
Fig. 7 obtains position error GDOP distributions to add after certain attitude angle error by Monte Carlo simulation
Figure, emulating major parameter is：Angle error σα=σβ=0.1 °, station site error σs=0m, time determination error σΔt=100ns, main website
Coordinate (- 5,0,10) km, extension station coordinate (5,0,10) km, its observation area are x ∈ [- 20 20] km, y ∈ [- 20 20] km, z
=0km, in addition, adding 0.2 ° of attitude angle error.
The contour that numerical value is 0.1km in comparison diagram 5 and Fig. 7 is as can be seen that Fig. 5 errors compared with Fig. 6 are 0.1km contour
Region contained by line is reducing, and illustrates that after adding attitude angle observation error position error can be increased.Therefore attitude error is demonstrated
Influence can be produced on position error.
In summary analyze described, method of the invention can realize that unmanned plane carries out the position of direction finding positioning using TDOA to target
Resolving is put, and establishes directly contacting between target location and UAV Attitude.
Although the present invention is illustrated and described with regard to preferred embodiment, it is understood by those skilled in the art that
Without departing from scope defined by the claims of the present invention, variations and modifications can be carried out to the present invention.
Claims (4)
1. a kind of double unmanned plane direction finding time difference positioning methods for considering UAV Attitude angle, it is characterised in that comprise the following steps：
(1) azimuth, the angle of pitch and the echo signal that echo signal is measured under the airborne coordinate system of main website unmanned plane reach master
The time difference stood with extension station；
(2) data calculation measured according to step (1) goes out target with main website unmanned plane apart from r0；
(3) azimuth of echo signal is measured according to target and the distance of main website unmanned plane, main website unmanned plane and the angle of pitch is resolved
Go out coordinate of the target under main website unmanned aerial vehicle onboard coordinate system；
(4) coordinate of the target under earth right angle coordinate system is obtained by the coordinate conversion relation of relative coordinate system.
2. double unmanned plane direction finding time difference positioning methods at UAV Attitude angle are considered as claimed in claim 1, it is characterised in that
The earth rectangular co-ordinate OXYZ, origin is the centre of sphere of earth ellipsoid；Rectangular coordinate system oxyz is measured, origin is observation station center；It is main
Stand airborne coordinate system S0Xyz, origin is carrier aircraft center；
Earth right angle coordinate system and the matrix relationship formula of measurement rectangular coordinate system are specially：Assuming that target is in earth right angle coordinate system
Coordinate under lower and measurement rectangular coordinate system is respectively (X, Y, Z) and (x, y, z), and the coordinate of observation station is in earth right angle coordinate system
With respectively (X under earth coordinates0, Y0, Z0) and (L0, B0, H0), then earth right angle coordinate system with measurement rectangular coordinate system square
Battle array expression formula is as follows：
In formula：
The measurement rectangular coordinate system of observation station is specially with the matrix relationship formula of airborne coordinate system：Assuming that target is in airborne coordinate system
Coordinate under lower and observation station measurement rectangular coordinate system is respectively (xb, yb, zb) and (x, y, z), due to the survey of the observation station of foundation
Amount rectangular coordinate system is overlapped with the origin of coordinates of airborne coordinate system, and is all the barycenter of observation station, therefore target is in observation station
Observation rectangular coordinate system and the position relationship of airborne coordinate system it is as follows：
In formula：
Wherein, δa、δb、δcFor the attitude angle (roll angle, yaw angle and the angle of pitch) of carrier aircraft.
3. double unmanned plane direction finding time difference positioning methods at UAV Attitude angle are considered as claimed in claim 1, it is characterised in that
Localization method detailed process is：Assuming that in the airborne coordinate system of main website, the coordinate of target is (xs, ys, zs), the coordinate of extension station
For (x1s, y1s, z1s), target and the position relationship of main website and extension station in can obtain：
Assuming that the position of target is respectively S under main website, extension station and earth right angle coordinate system0(X0,Y0,Z0)、S1(X1,Y1,Z1)、S
(X, Y, Z), in the airborne coordinate system S of main website0Under xyz, the position of target is S'(xs,ys,zs), extension station for S1'(x1s,y1s,
z1s), wherein the position of main website and extension station under earth right angle coordinate system is known quantity, under the airborne coordinate system of main website, measures mesh
The azimuth of the relative main website of mark is α, and the angle of pitch is β, and the time difference that main website and extension station receive echo signal is Δ t, can by when
Between difference be converted into target reach two observation stations range difference Δ r (Δ r=c Δs t=r1-r0)；
Can be by the positional representation of target under the airborne coordinate system of main website：
If trying to achieve main website range-to-go r0, you can coordinate of the target under the airborne coordinate system of main website is obtained, further according to main website
The attitude information of unmanned plane now obtains transition matrix Q1, the target location coordinate under the airborne coordinate system of main website can be transformed to
Under main website measurement rectangular coordinate system；Coordinate (X finally according to main website under earth right angle coordinate system and under earth coordinates0, Y0,
Z0) and (L0, B0, H0) obtain transition matrix Q2, position of the target under earth right angle coordinate system can be obtained by coordinate system transformation
Put as follows：
In formula (8), (X, Y, Z) is coordinate of the target under earth right angle coordinate system,WithFor the transformation matrix of coordinate system,
(X0, Y0, Z0) it is coordinate of the main website under earth right angle coordinate system.
4. double unmanned plane direction finding time difference positioning methods at UAV Attitude angle are considered as claimed in claim 1, it is characterised in that
Target is to subjective survey station apart from r0For unknown quantity to be tried to achieve, r is solved0Specific algorithm be：
It can be obtained by formula (6)
r1 2-r0 2=x1s 2+y1s 2+z1s 2-2(x1sxs+y1sys+z1szs) (9)
By Δ r=r1-r0It can obtain
Δr2=r1 2-r0 2-2Δrr0 (10)
Formula (9) and formula (10) simultaneous are disappeared r1 2-r0 2Afterwards, it can obtain
2Δrr0+2(x1sxs+y1sys+z1szs)=x1s 2+y1s 2+z1s 2-Δr2 (11)
By the position S'(x of target under the airborne coordinate system of main website in formula (7)s,ys,zs) bring into formula (11), it can obtain
According to earth right angle coordinate system and observation station measure the matrixing relation of rectangular coordinate system, observation station rectangular coordinate system with
The matrixing relation of airborne coordinate system, can be by the airborne coordinate of coordinate transform of the extension station under earth right angle coordinate system to main website
Under system, therefore following relation can be obtained：
Wherein：L0、B0Respectively the longitude of main website unmanned plane now and
Latitude；By main website, UAV Attitude angle information can be obtained
Because Q1With Q2Two matrixes are metWherein E is unit matrix, so can obtain：
It is that can obtain target to subjective survey station apart from r by formula (12), (13), (14)0For
Wherein：S1'(x1s,y1s,z1s) can be obtained by formula (13)；
According to obtained target to subjective survey station apart from r0And azimuth angle alpha, the angle of pitch β of target, it can calculate in main website machine
The target location coordinate under coordinate system is carried, as shown in formula (7)；Further according to formula (8) by the coordinate of target from the airborne coordinate system of main website
Transform in earth right angle coordinate system, obtain the position S (X, Y, Z) of target.
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