CN109633724A - Passive object localization method based on single star Yu more earth station's combined measurements - Google Patents
Passive object localization method based on single star Yu more earth station's combined measurements Download PDFInfo
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- CN109633724A CN109633724A CN201910038540.1A CN201910038540A CN109633724A CN 109633724 A CN109633724 A CN 109633724A CN 201910038540 A CN201910038540 A CN 201910038540A CN 109633724 A CN109633724 A CN 109633724A
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
Abstract
The invention belongs to electronic countermeasure technology fields, and in particular to a kind of passive object localization method based on single star Yu more earth station's combined measurements.The present invention is directed to the positioning scene of aerial target radiation source, target emanation source signal is measured respectively by single star and multiple earth stations reaches respective direction cosines angle, and target emanation source signal arrives separately at time difference and the difference on the frequency of satellite and multiple surface-based observing stations, pass through the pseudo- linearization process to direction cosine angle and merged time difference measurement equation and frequency difference measurement equation, provides the weighted least-square solution analysis solution of target position.Positioning solution fuzzy problem, the mean square error programmable single-chip system CramerRao lower limit of position error is not present in the achievable instantaneous high accuracy positioning of single in this method.
Description
Technical field
The invention belongs to electronic countermeasure technology fields, and in particular to a kind of nothing based on single star Yu more earth station's combined measurements
Source object localization method.
Background technique
On the one hand, Modern Electronic information war it is critical that the contention of electromagnetic space and to right between enemy and we
The detection and monitoring of square highest priority, to obtain the strategic plan of enemy's unit, the information such as Platform Type.Therefore, to target
It scouts location technology and plays very important role in electronic countermeasure field.Compared with active location method, passive location tool
Have the advantages that operating distance is remote, lobe-on-receive, be not easy to be found by other side, for improving life of the weapon system under Electronic Warfare Environment
It deposits ability and fight capability is of great significance.
On the other hand, with the development of space technology and the spaceborne breakthrough for detecing receipts technology, spaceborne electronic reconnaissance equipment is utilized
To Ground emitter signals carry out passive detection and positioning have become current various countries try to be the first development Space Military frontline technology project it
One.The advantages such as own cost is low, location method is flexible although Single satellite passive location system has, simultaneously as it is to be based on
One observation satellite realizes that the positioning to radiation source causes positioning accuracy not high enough so the target information amount obtained is less.Cause
This, considers that single star combines multiple surface-based observing stations herein, realizes the positioning of world joint objective.
Summary of the invention
The purpose of the present invention is proposed and a kind of based on single star and more earth station's direction findings and is combined aiming at the above problem
Survey the passive object localization method of the time difference and frequency difference.For the positioning scene of aerial target radiation source, by single star and multiple
Face station measures the respective direction cosines angle of target emanation source signal arrival respectively and target emanation source signal arrives separately at satellite
Time difference and difference on the frequency with multiple surface-based observing stations by the pseudo- linearization process to direction cosine angle and are merged the time difference
It measures equation and frequency difference measures equation, provide the weighted least-square solution analysis solution of target position.This method is in achievable single wink
When high accuracy positioning, be not present positioning solution fuzzy problem, the mean square error programmable single-chip system CramerRao lower limit of position error
(CRLB)。
The technical scheme adopted by the invention is as follows:
This method passes through single star and more earth stations measure target emanation source signal respectively and reach respective direction cosines angle, with
And target emanation source signal arrives separately at time difference and the difference on the frequency of satellite and more surface-based observing stations and provides by algorithmic derivation
The weighted least-square solution of target position analyses calculation formula.Location model is as shown in Figure 1.In figure, note body-fixed coordinate system e system:
(xe,ye,ze) under, the position of satellite is xS,e=[xs,e,ys,e,zs,e]T, the position of target radiation source is xT,e=[xt,e,
yt,e,zt,e]T, the position of three surface-based observing stations is denoted as x respectivelyr1,e=[xr1,e,yr1,e,zr1,e]T, xr2,e=[xr1,e,yr1,e,
zr1,e]TAnd xr3,e=[xr3,e,yr3,e,zr3,e]T.In celestial body coordinate system b system, the position of target radiation source is xT,b=[xt,b,
yt,b,zt,b]T.By document [1] it is found that in spaceborne DF and location system, there is following coordinate transformation relation: xT,b=M (xS,e-
xT,e), expression
Including: satellite xS,eThe corresponding substar latitude B in earth coordinatesSWith longitude LSAnd by satellite xS,e
Spaceborne attitude transducer output several angle informations: yaw angle ψ, pitching angle theta, roll angle φ.With in up-to-date style:
The invention mainly includes steps:
A, target emanation source signal is measured by single star and more earth stations respectively and reaches respective direction cosines angle and mesh
Mark emitter Signals arrive separately at time difference and the difference on the frequency of satellite and more surface-based observing stations；
B, pass through the pseudo- linearization process to direction cosine angle and merged time difference measurement equation and frequency difference measurement equation,
Establish target location model；
C, the model solution established using weighted least-squares method to step b obtains target position.
Specifically, the present invention is based on following principles in the step a:
Each observed quantity of positioning system can be expressed as follows:
A. the direction cosines angle α that single star measurement target emanation source signal reachessAnd βs, the expression formula of measured value are as follows:
In formula: Dx=[1,0,0], Dy=[0,1,0], Dz=[0,0,1],Respectively represent direction cosines angle αsWith
βsTrue value,WithRespectively represent its measurement error.Meanwhile having:
In formula:Represent the true value at direction cosines angle, γsIt represents by direction cosines angle αsAnd βsMeasured value calculate
The direction cosines angle arrived.
B. i-th of surface-based observing station xri,eMeasure the direction cosines angle α that target emanation source signal reachesriAnd βri, measurement
The expression formula of value are as follows:
Similarly, in formula:Respectively represent direction cosines angle αriAnd βriTrue value,WithRespectively represent it
Measurement error, meanwhile, have:
In formula:Represent the true value at direction cosines angle, γriIt represents by direction cosines angle αriAnd βriMeasured value calculate
Obtained direction cosines angle.
C. time difference measurement value is converted into range difference, then the expression formula of its measured value are as follows:
In formula:Represent frequency difference ρs,riTrue value,Represent its measurement error.
D. frequency difference measured value can be converted into range difference and change with time rate, then expression formula are as follows:
In formula:Represent frequency difference ξs,riTrue value,Represent its measurement error.
Various measured values based on above-mentioned positioning system, realization carry out positioning and constant speed to aerial target radiation source simultaneously,
It is weighted the derivation of least square location algorithm.
In step b, the present invention specifically uses method are as follows:
A) it can be obtained by formula in above-mentioned A:
That is:
Again according to first order Taylor series expansion principle, can obtain:
Bringing arrangement into can obtain:
B) it can be obtained by formula in above-mentioned A:
It can obtain:
Again according to first order Taylor series expansion principle, can obtain:
Bringing arrangement into can obtain:
C) it can be obtained by formula in above-mentioned B:
It can similarly obtain:
D) it can be obtained by formula in above-mentioned B:
It can similarly obtain:
E) it can be obtained by formula in above-mentioned D:
Again according to the definition at direction cosines angle in above-mentioned A, can obtain:
That is:
Similarly, according to first order Taylor series expansion principle:
Arrangement can obtain:
Wherein, H=M (v is enabledS,e-vT,e), then have:
It can then be obtained on the basis of above-mentioned algorithmic derivation:
Wherein, details are as follows for the expression of b, A, N, n:
Wherein by usAnd uriIt is clear as follows:
Wherein:
Wherein:
Wherein by CsAnd CriIt is clear as follows:
Therefore, the weighted least-square solution of the position and speed vector Ω of target radiation source can be obtained are as follows:
In formula: Q=cov (Nn)=NWNT, wherein W is the covariance matrix of noise,
Need to be asked target position due to containing in matrix N, way here is the least square solution first by targetTarget position and speed needed for matrix N are provided, obtains matrix N, and then acquire target emanation
The weighted least-square solution in source
In conjunction with above scheme, following error analysis is carried out to method proposed by the invention:
Aerial target radiation source is positioned, the influence factor of system accuracy mainly has the angle measurement error of satelliteThe angle measurement error of earth stationTime difference measurement errorAnd frequency difference measurement errorBelow to presence
The CramerRao lower limit (CRLB) of position error carries out analytical calculation under the conditions of these four systematic measurement errors, and provides positioning
The geometry of error is distributed GDOP.The measurement equation expression of system is as follows:
Setting parameter vector is Ω, then Jacobian matrix of the systematic observation equation about target position vector Ω
Specifically:
It obtains under no WGS-84 ellipsoid model of globe constraint, theoretical precision circle of target location error are as follows:
CRLB (Ω)=GTW-1G
Beneficial effects of the present invention are to pass through single star and multiple earth station's combined measurement time differences and frequency difference and direction cosines
High-precision positioning and constant speed in wide scope are realized in angle, and the supplementary observation information at combined ground station is to existing satellite-based
The location method of passive location carries out auxiliary optimization, realizes the passive location of world joint, it is made to have both passive location and space electricity
The advantage that subsatellite is scouted promotes the precision and real-time of target positioning and tracking.
Detailed description of the invention
Fig. 1 is the location model figure of the double star DF and location based on WGS-84 model；
Fig. 2 is that the GDOP of position error schemes；
Fig. 3 is variation analogous diagram of the positioning calculation error in position with the angle measurement error of satellite；
Fig. 4 is variation analogous diagram of the positioning calculation error in position with earth station's angle measurement error；
Fig. 5 is variation analogous diagram of the positioning calculation error in position with time difference measurement error；
Fig. 6 is variation analogous diagram of the speed positioning calculation error with frequency difference measurement error.
Specific embodiment
Verifying explanation is carried out to above-mentioned localization method with reference to the accompanying drawing, following reasonable assumption is made to system model first:
1. hypothesis satellite is low orbit satellite, orbit altitude is relatively low, usually 500km to 1000km；
2. satellite attitude measurement error present in engineering practice is unified into satellite angle measurement error；
3. assuming that measurement error obeys the Gaussian Profile that mean value is zero, and mutually indepedent between error.
(1) the GDOP figure of position error:
As shown in Figure 2, it is assumed that the orbit altitude of single star is HS=800km, corresponding sub-satellite point longitude and latitude are respectively
(LS,BS103 ° of)=(, 37 °), see that star point marks in figure, velocity vector xS,e=[6,4,2]Tkm/s.It sees on three ground
The longitude and latitude of survey station is respectively (Lr1,Br1100 ° of)=(, 34 °), (Lr2,Br2101 ° of)=(, 36 °) and (Lr1,Br1102 ° of)=(,
34 °), see that figure intermediate cam form point marks, emulation all assumes that surface-based observing station is fixed.The velocity vector of target is set as xT,e
=[0.2,0.15,0.02]Tkm/s.The angle measurement error of satelliteRoot-mean-square error size be set as 0.1 °, three
The angle measurement error of earth stationRoot-mean-square error size be set as 0.5 °, time difference measurement errorRoot mean square miss
Poor size is set as 10us, frequency difference measurement errorRoot-mean-square error size be set as 10Hz, emulation obtains the more ground Dan Xingyu
The direction finding of face station and joint survey the GDOP figure of the target position positioning calculation of the time difference and frequency difference.
It can be seen that, the GDOP figure of position error is substantially in symmetrical about the substar of single star and three earth stations from the graph
The root-mean-square error of distribution, the error that target position positions near earth station is smaller, near the substar of local Xiang Danxing
With certain deflection, the root-mean-square error of position error is in Stable distritation within the scope of wide area longitude and latitude.
It is assumed that the orbit altitude of single star is HS=800km, corresponding sub-satellite point longitude and latitude are respectively (LS,BS)=
(103 °, 37 °) are shown in that star point marks in figure, velocity vector xS,e=[6,4,2]Tkm/s.The warp of three surface-based observing stations
Latitude is respectively (Lr1,Br1100 ° of)=(, 34 °), (Lr2,Br2101 ° of)=(, 36 °) and (Lr1,Br1102 ° of)=(, 34 °), see
Figure intermediate cam form point mark, emulation all assume that surface-based observing station is fixed.Set the longitude of aerial target radiation source, latitude and
Elevation is respectively (Lt,Bt,Ht102 ° of)=(, 36 °, 15km), the velocity vector of target radiation source is xT,e=[0.2,0.15,
0.02]Tkm/s.Satellite, earth station and target position are emulated below according to above-mentioned setting.
(2) influence of satellite angle measurement error:
As shown in figure 3, the angle measurement error of earth stationRoot-mean-square error size be set as 0.5 °, the time difference surveys
Measure errorRoot-mean-square error size be set as 10us, frequency difference measurement errorIt is set as 10Hz, the direction finding of satellite is missed
Difference Root-mean-square error size change to 1 ° from 0.1 °, carry out location simulation resolving, obtain position positioning calculation error with
The variation of the angle measurement error of satellite.
(3) influence of earth station's angle measurement error:
As shown in figure 4, the angle measurement error of satelliteRoot-mean-square error size be set as 0.3 °, time difference measurement misses
DifferenceRoot-mean-square error size be set as 10us, frequency difference measurement errorIt is set as 10Hz, by the angle measurement error of earth stationRoot-mean-square error size change to 2 ° from 0.2 °, carry out location simulation resolving, obtain positioning calculation error with ground
The variation for the angle measurement error stood.
(4) influence of time difference measurement error:
The angle measurement error of satelliteRoot-mean-square error size be set as 0.3 °, the angle measurement error of earth stationRoot-mean-square error size be set as 0.5 °, frequency difference measurement errorIt is set as 10Hz, by time difference measurement error nρ
Root-mean-square error size change to 50us from 5us, carry out location simulation resolving, obtain positioning calculation error and missed with time difference measurement
The variation of difference, as shown in Figure 5.
(5) influence of frequency difference measurement error:
The angle measurement error of satelliteRoot-mean-square error size be set as 0.3 °, the angle measurement error of earth stationRoot-mean-square error size be set as 0.5 °, time difference measurement error nρRoot-mean-square error size be set as 10us, will
Frequency difference measurement errorRoot-mean-square error size change to 20Hz from 2Hz, carry out location simulation resolving, obtain velocity calculated mistake
Difference with time difference measurement error variation, as shown in Figure 6.
It can be seen that, calculation method proposed in this paper can be very good to approach CRLB from Fig. 3,4,5,6, only miss in measurement
After difference is bigger than normal, it is offset slightly from CRLB about 0.1km.
Claims (4)
1. the passive object localization method based on single star Yu more earth station's combined measurements, the combined measurement is to survey the time difference and frequency
Difference, which comprises the following steps:
A, target emanation source signal is measured by single star and more earth stations respectively and reaches respective direction cosines angle and target spoke
Penetrate time difference and difference on the frequency that source signal arrives separately at satellite and more surface-based observing stations；
B, pass through the pseudo- linearization process to direction cosine angle and merged time difference measurement equation and frequency difference measurement equation, establish
Target location model；
C, the model solution established using weighted least-squares method to step b obtains target position.
2. the passive object localization method according to claim 1 based on single star Yu more earth station's combined measurements, the step
Rapid a's method particularly includes:
It is set in body-fixed coordinate system { e system: (xe,ye,ze) under, the position of satellite is xS,e=[xs,e,ys,e,zs,e]T, ground observation
Station has 3, and position is respectively xr1,e=[xr1,e,yr1,e,zr1,e]T, xr2,e=[xr1,e,yr1,e,zr1,e]TAnd xr3,e=[xr3,e,
yr3,e,zr3,e]T, the position of target radiation source is xT,e=[xt,e,yt,e,zt,e]T, in celestial body coordinate system b system, target radiation source
Position be xT,b=[xt,b,yt,b,zt,b]T, in spaceborne DF and location system, there is following coordinate transformation relation: xT,b=M
(xS,e-xT,e), whereinIncluding satellite xS,eIt is right in earth coordinates
The substar latitude B answeredSWith longitude LSAnd by satellite xS,eSpaceborne attitude transducer output several angle informations: yaw angle
ψ, pitching angle theta, roll angle φ:
The direction cosines angle α that a1, single star measurement target emanation source signal reachsAnd βs:
In formula: Dx=[1,0,0], Dy=[0,1,0], Dz=[0,0,1],Respectively represent direction cosines angle αsAnd βs's
True value,WithRespectively represent its measurement error；
It enables
In formula:Represent the true value at direction cosines angle, γsIt represents by direction cosines angle αsAnd βsMeasured value be calculated
Direction cosines angle；
A2, i-th of surface-based observing station xri,eMeasure the direction cosines angle α that target emanation source signal reachesriAnd βri:
In formula:Respectively represent direction cosines angle αriAnd βriTrue value,WithRespectively represent its measurement error；
It enables
In formula:Represent the true value at direction cosines angle, γriIt represents by direction cosines angle αriAnd βriMeasured value be calculated
Direction cosines angle；
A3, acquisition target emanation source signal arrive separately at the time difference of satellite and surface-based observing station, and time difference measurement value are converted
For range difference:
In formula:Represent time difference ρs,riTrue value,Represent its measurement error；
A4, acquisition target emanation source signal arrive separately at the difference on the frequency of satellite and surface-based observing station, and frequency difference measured value are converted
It changes with time rate for range difference:
In formula:Represent frequency difference ξs,riTrue value,Represent its measurement error.
3. the passive object localization method according to claim 2 that the time difference is surveyed based on the direction finding of Dan Xingyu earth station and joint,
It is characterized in that, the step b method particularly includes:
B1, pseudo- linearisation is carried out to the direction cosines angle that step a1 is obtained, obtained:
B2, pseudo- linearisation is carried out to the direction cosines angle that step a2 is obtained, obtained:
B3, fusion time difference measurement and frequency difference measure equation, establish location model, specifically include:
It can be obtained by above-mentioned pseudo- lienarized equation
Wherein, H=M (v is enabledS,e-vT,e), then have:
Then fusion obtains:
Wherein,
4. the passive object localization method according to claim 3 based on single star Yu more earth station's combined measurements, feature
It is, the step c's method particularly includes:
It is solved using weighted least-squares method, obtains the weighted least-square solution of target radiation source are as follows:
In formula: Q=cov (Nn)=NWNT, W is the covariance matrix of noise,
Contain in matrix N and need to be asked target position, first by the least square solution of targetProvide matrix
Target position and speed needed for N obtain matrix N, and then acquire the weighted least-square solution of target radiation source
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