CN113514822A - Time difference positioning method, device and system based on direction finding - Google Patents
Time difference positioning method, device and system based on direction finding 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
- G01S2013/468—Indirect determination of position data by Triangulation, i.e. two antennas or two sensors determine separately the bearing, direction or angle to a target, whereby with the knowledge of the baseline length, the position data of the target is determined
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Abstract
The application discloses a time difference positioning method, a device and a system based on direction finding, wherein the method comprises the following steps: simultaneously receiving target radiation source signals by using a direction-finding receiving station and a plurality of single-channel receiving stations respectively, and synchronously stamping time stamps on the received signals; determining a main path signal received by the direction-finding receiving station according to a received signal of the direction-finding receiving station; determining a plurality of time difference values according to the main path signal received by the direction-finding receiving station, the received signal of each single-channel receiving station and the time stamp of each received signal; and performing multi-station time difference positioning according to the plurality of time difference values to obtain the position information of the target radiation source. The method and the device can greatly improve the time difference positioning accuracy of the target radiation source in the multipath environment with little hardware improvement cost, and have the advantages of simple algorithm, small calculated amount, wide application range and strong practicability.
Description
Technical Field
The application relates to the technical field of radar signal processing, in particular to a time difference positioning method, device and system based on direction finding.
Background
The time difference positioning method is a positioning method for cooperatively determining the position of a radiation source by utilizing the time difference of a radiation source signal reaching three or more receiving stations with different positions, and the principle is that L- (L-1)/2 groups of time differences exist between the radiation source signal reaching L (L is more than or equal to 3) receiving stations, L- (L-1)/2 groups of time differences can be used for drawing hyperbolas of the possible positions of L- (L-1)/2 radiation sources, and the intersection point of L- (L-1)/2 hyperbolas is the calculated position of the radiation source.
Time difference location techniques have been widely used in object location systems where the accuracy of location depends largely on the accuracy of the time difference extraction between the signals between the receivers. In the prior art, a high-precision GPS or a Beidou system is adopted, and the extraction precision can reach within 20ns, so that under the condition of full sight, higher time difference measurement precision can be obtained as long as the accumulation time is increased.
However, when the mobile terminal is in a complex environment such as a city and a mountain, the received signal includes a reflected multipath signal in addition to the direct signal, and the multipath signal and the direct signal are coherent signals, so that the time difference extraction accuracy is seriously affected, and the positioning accuracy is reduced.
Disclosure of Invention
The embodiment of the application provides a time difference positioning method, a time difference positioning device and a time difference positioning system based on direction finding, so as to overcome the technical defect that in the time difference positioning method in the prior art, multipath signals interfere direct signals, and positioning accuracy is not high, and the time difference positioning method, the time difference positioning device and the time difference positioning system are particularly suitable for multipath environments such as cities and mountains.
According to a first aspect of the present application, there is provided a direction-finding based time difference positioning method, including:
simultaneously receiving target radiation source signals by using a direction-finding receiving station and a plurality of single-channel receiving stations respectively, and synchronously stamping time stamps on the received signals;
determining a main path signal received by the direction-finding receiving station according to a received signal of the direction-finding receiving station;
determining a plurality of time difference values according to the main path signal received by the direction-finding receiving station, the received signal of each single-channel receiving station and the time stamp of each received signal;
and performing multi-station time difference positioning according to the plurality of time difference values to obtain the position information of the target radiation source.
Optionally, in the method, the number of the direction-finding array elements of the direction-finding receiving station is not less than the sum of the number of the incoming wave directions of the received signals and 2.
Optionally, in the method, the determining, according to the received signal of the direction-finding receiving station, a main path signal received by the direction-finding receiving station includes:
after the direction-finding receiving station is used for carrying out coherent signal direction finding on the received signals, the measured incoming wave directions are respectively subjected to null processing to determine main path signals received by the direction-finding receiving station.
Optionally, in the above method, the coherent signal direction finding is implemented by using a multiple signal classification method based on spatial smoothing or a signal subspace method.
Optionally, in the method, the determining the main path signal received by the direction-finding receiving station by performing null processing on each measured incoming wave direction includes:
selecting one incoming wave direction for each time without nulling and nulling other incoming wave directions for all incoming wave directions measured by the direction-finding receiving station to obtain receiving signals corresponding to all the incoming wave directions;
and determining the main path incoming wave direction of the direction-finding receiving station according to the maximum amplitude value of the received signals corresponding to each incoming wave direction, and determining the main path signals received by the direction-finding receiving station according to the received signals corresponding to the main path incoming wave direction.
Optionally, in the method, determining a plurality of time difference values according to the main path signal, the received signals of the single-channel receiving stations, and the time stamps of the received signals includes:
aligning the main path signal with the received signal of each single-channel receiving station according to the time stamp of each received signal;
respectively carrying out sliding cross-correlation processing on the main path signals and the receiving signals of each single-channel receiving station to obtain a plurality of correlation curves;
and (4) carrying out interpolation processing on the maximum value of the first front of each correlation curve from left to right and the values of two points before and after the maximum value, and determining a time difference value corresponding to each single-channel receiving station.
Optionally, in the method, the performing multi-station time difference positioning according to the plurality of time difference values to obtain the position information of the target radiation source includes:
and performing radiation source position calculation on the plurality of time difference values by adopting a least square method, a Chan algorithm or a Taylor iterative algorithm to obtain position information of the target radiation source.
According to a second aspect of the present application, there is provided a direction-finding based time difference locating device, comprising:
the signal acquisition unit is used for simultaneously and respectively receiving target radiation source signals by utilizing a direction-finding receiving station and a plurality of single-channel receiving stations and synchronously stamping time stamps on the received signals;
a main path signal determining unit, configured to determine a main path signal received by the direction-finding receiving station according to a received signal of the direction-finding receiving station;
the time difference value determining unit is used for determining a plurality of time difference values according to the main path signal received by the direction-finding receiving station, the received signal of each single-channel receiving station and the time stamp of each received signal;
and the positioning unit is used for performing multi-station time difference positioning according to the plurality of time difference values to obtain the position information of the target radiation source.
Optionally, in the above apparatus, the main path signal determining unit is specifically configured to perform coherent signal direction finding on the received signal by using the direction finding receiving station, and then perform null steering processing on each measured incoming wave direction respectively to determine the main path signal received by the direction finding receiving station.
According to a third aspect of the present application there is provided a direction-finding based moveout location system, the system comprising: the time difference positioning device based on direction finding is independently arranged, or arranged in the direction finding receiving station or arranged in one of the single-channel receiving stations;
the direction-finding receiving station and the plurality of single-channel receiving stations are used for simultaneously and respectively receiving target radiation source signals and synchronously stamping time stamps on the received signals;
the time difference positioning device based on direction finding is used for determining a main path signal received by the direction finding receiving station according to a received signal of the direction finding receiving station; determining a plurality of time difference values according to the main path signal received by the direction-finding receiving station, the received signal of each single-channel receiving station and the time stamp of each received signal; and performing multi-station time difference positioning according to the plurality of time difference values to obtain the position information of the target radiation source.
The method has the advantages that the receiving station with the direction-finding function and the other single-channel receiving stations are used for receiving the target radiation source signals simultaneously; after the receiving station with the direction-finding function carries out coherent signal direction finding on the received data, carrying out null processing on each measured direction respectively to obtain a main diameter signal; then, the separated main path signals are correlated with signals received by other single-channel receiving stations and the time difference is extracted; and finally, performing time difference positioning by using the obtained plurality of time difference information to obtain the real position of the target radiation source. The method can be realized by replacing a single-channel receiving device in the original time difference positioning system with a multi-channel receiving device with direction finding capability, so that the method can greatly improve the time difference positioning accuracy of the target radiation source in a multipath environment with little hardware improvement cost, and has the advantages of simple algorithm, small calculation amount, wide application range and strong practicability.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic flow diagram of a direction-based moveout location method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a radiation source, reflection point and receiving station location and signal propagation according to one embodiment of the present application;
fig. 3 is a diagram of the results of coherent signal direction finding by the receiving station 0 according to one embodiment of the present application;
FIG. 4 is a time domain diagram of a signal after nulling according to an embodiment of the present application;
FIG. 5 is a graph of the results of time difference extraction sliding cross-correlation according to one embodiment of the present application;
FIG. 6 is a graph of the results of a least squares method of moveout localization according to one embodiment of the present application;
FIG. 7 is a schematic structural diagram of a direction-based moveout location apparatus according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a direction-based moveout location system according to one embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Compared with other positioning methods, the time difference positioning method has no requirements on the amplitude and the phase of a channel and is irrelevant to the frequency, so that a receiving antenna of the time difference positioning system can adopt an antenna with high gain and certain directivity; meanwhile, a system for realizing the time difference positioning method is a long baseline positioning system, and has higher positioning accuracy compared with a direction-finding positioning system with a short baseline, so the time difference positioning method is widely used for target positioning.
However, when the mobile terminal is in a complex environment such as a city and a mountain, the received signal includes a reflected multipath signal in addition to the direct signal, and the multipath signal and the direct signal are coherent signals, so that the time difference extraction accuracy is seriously affected, and the positioning accuracy is reduced.
The method comprises the steps of adopting a receiving station with a direction finding function and a plurality of other single-channel receiving stations to simultaneously receive target radiation source signals, separating the target radiation source signals through coherent signals to obtain main path signals, extracting time difference according to the obtained main path signals and the target radiation source signals received by the plurality of other single-channel receiving stations, and finally positioning according to the extracted time difference. The positioning method can be realized by only replacing a single-channel receiving device in the original time difference positioning system with a multi-channel receiving device with direction finding capability, and has the advantages of simple algorithm, small calculation amount, wide application range and strong practicability.
Fig. 1 is a schematic flow chart of a direction-finding-based time difference positioning method according to an embodiment of the present application, and as can be seen from fig. 1, the method at least includes steps S110 to S140:
step S110: and simultaneously receiving target radiation source signals by using a direction-finding receiving station and a plurality of single-channel receiving stations respectively, and synchronously stamping time stamps on the received signals.
It should be noted that the present invention can be implemented on the premise that each receiving station and the target radiation source should satisfy the visibility condition, that is, the received signal must include a direct signal to implement correct positioning, the number of strong multipath signals is generally less than 2 (because the multipath signals reflected many times are very weak and cannot affect the time difference extraction accuracy, they can be ignored), the number N of antenna elements is greater than the sum Q of the numbers of the direct signal and the multipath signals, otherwise, the direction of the direct signal cannot be correctly estimated. In some embodiments of the present application, in order to obtain a better direction finding effect, N is generally equal to or greater than Q +2, that is, the number of direction finding array elements of the direction finding receiving station is not less than the sum of the number of incoming wave directions of the received signals and 2.
In this application, the receiving stations include a direction-finding receiving station and a plurality of single-channel receiving stations. The target radiation source may be a ground fixed radiation source or an aerial mobile radiation source, and the application is not limited. When the target radiation source is a ground fixed radiation source, the number of the single-channel receiving stations is more than or equal to 2, and when the target radiation source is an air movable radiation source, the number of the single-channel receiving stations is more than or equal to 3.
A direction-finding receiving station and a plurality of single-channel receiving stations simultaneously and respectively receive signals sent by a target radiation source, wherein the signals comprise a main path signal and at least one path of reflected multi-path signals, taking a path of multi-path signals as an example, that is, the direction-finding receiving station receives a main path signal and a path of multi-path signals, and each single-channel receiving station respectively receives a main path signal and a path of multi-path signals. The main path signal and the multi-path signal are coherent signals, i.e. they are mixed together and difficult to be directly resolved, and the multi-path signal will affect the accuracy of target positioning, so it is necessary to eliminate the effect of the multi-path signal.
As shown in fig. 2, fig. 2 is a schematic diagram of the radiation source, reflection point and receiving station location and signal propagation according to an embodiment of the present application, and it can be seen from fig. 2 that the target radiation source is a radiation source a and one reflection point is a reflection point B; the receiving station comprises a receiving station 0, a receiving station 1 and a receiving station 2, wherein the receiving station 0 is a direction-finding receiving station, the receiving station 1 and the receiving station 2 are single-channel receiving stations, the coordinate of the receiving station 0 is 0(0,0) km, a 5-element uniform linear array with a baseline wavelength ratio of 0.5 is adopted, and 5 channels simultaneously store IQ data of a signal baseband; the coordinates of the receiving station 1 are (-8.66,5) km, the coordinates of the receiving station 2 are (8.66,5) km, the coordinates of the radiation source are a (4.15,13.17) km, and the coordinates of the reflection point B are (-3.10,14.82) km.
The direction-finding receiving station and each single-channel receiving station respectively and simultaneously receive signals sent by the radiation source A, taking the receiving station 0 as an example, the received signals directly sent by the radiation source A are main path signals, and the received signals sent by the radiation source A and reflected by the reflection point B are multi-path signals; similarly, the single-channel receiving station 1 and the single-channel receiving station 2 also receive a main path signal and a multi-path signal, respectively.
As each receiving station receives the signal, the received signal is synchronously time stamped for subsequent determination of the timing difference. A timestamp, colloquially, is a complete verifiable piece of data that can indicate that a piece of data already exists at a particular point in time. In the application, the timestamp of the receiving station on the received signal is a signal receiving time mark after time synchronization can be realized by using a GPS (global positioning system), a Beidou positioning system or other methods.
Step S120: and determining a main path signal received by the direction-finding receiving station according to the received signal of the direction-finding receiving station.
Since the main path signal and the multi-path signal are coherent, coherence can be simply understood as the similarity of the two signals, and the higher the coherence is, the higher the similarity is, the signals with the higher similarity will interfere with each other, so that the accuracy of the positioning result is low, and therefore, the main path signal and the multi-path signal need to be separated.
In some embodiments of the present application, the main path signal may be obtained by performing coherent signal direction finding on a received signal by using a direction finding receiving station, and then performing null processing on each measured incoming wave direction respectively to determine the main path signal received by the direction finding receiving station.
Still taking 2 single-channel receiving stations as an example with a target radiation source as a ground fixed radiation source, before determining the main path signal, each incoming wave direction needs to be determined, and the angle value of each incoming wave direction can be obtained by carrying out coherent signal direction finding on the received signal of the direction-finding receiving station. Specifically, the coherent signal direction finding can be realized by a multiple signal classification method based on spatial smoothing or a signal subspace-based method. Among them, the multiple signal classification method based on spatial smoothing can be referred to as: the method comprises the following steps of Stone martial, Chen\28156, Single billow, and the like, carrying out spatial smooth estimation on the wave direction of a coherent signal based on a characteristic space MUSIC algorithm [ J ] in academic newspaper of Jilin university (engineering edition), 2017,47(1) 268 and 273; signal subspace based approach referable: southwestern, sons zhuang, zhou li gong a signal subspace direction finding algorithm [ J ] communicative confrontation, 1993,1: 23-30.
As shown in fig. 3, fig. 3 is a diagram of the results of coherent signal direction finding performed by the receiving station 0 according to an embodiment of the present application, and as can be seen from fig. 3, coherent signal processing performed on the direction-finding receiving station 0 results in a correlation curve, in which two peaks can be seen, wherein the coordinates of the extreme value of one peak are (73,51.4484), and the coordinates of the extreme value of the other peak are (102,37.9548), so that two signals received by the direction-finding receiving station 0 are received from directions of 73 ° and 102 °, respectively (with reference to the right in the horizontal direction). And determining the main path incoming wave direction of the direction-finding receiving station according to the maximum amplitude value of the received signals corresponding to each incoming wave direction, and determining the main path signals received by the direction-finding receiving station according to the received signals corresponding to the main path incoming wave direction.
Still taking the receiving station 0 as an example, after all the incoming wave directions of the received signal of the receiving station 0 are determined, the received signals of the incoming wave directions are separated from each other, and each channel of signals received by the receiving station 0 is obtained. Specifically, for all incoming wave direction signals measured by the direction-finding receiving station, one incoming wave direction signal is selected each time without nulling, and other incoming wave direction signals are nulled, so that a received signal in the incoming wave direction without nulling can be obtained. If the signal with the incoming wave direction of 73 degrees received by the receiving station is selected not to be null, and the signal with the incoming wave direction of 102 degrees is chosen to be null, the signal with the incoming wave direction of 73 degrees can be obtained; similarly, if the signal with the future wave direction of 102 ° is not nulled, and the signal with the future wave direction of 73 ° is nulled, the signal with the incoming wave direction of 102 ° can be obtained, so that the signals with different old wave directions are separated. As shown in fig. 4, fig. 4 is a time domain diagram of a signal after being subjected to nulling processing according to an embodiment of the present application, and it can be seen from fig. 4 that waveform diagrams of signals with incoming wave directions of 73 ° and 102 ° respectively are obtained through nulling processing.
And continuously determining the amplitude of the received signal in each incoming wave direction, comparing the amplitudes, determining the maximum amplitude as the incoming wave direction of the main path signal, and taking the received signal corresponding to the incoming wave direction of the main path signal as the main path signal of the direction-finding receiving station 0. With continuing reference to fig. 4, it can be seen from fig. 4 that the amplitudes of the signal waveforms with the incoming wave directions of 73 ° respectively are significantly larger than the amplitudes of the signal waveforms with the incoming wave directions of 102 ° respectively, so that it can be determined that the incoming wave direction of 73 ° is the incoming wave direction of the main diameter signal, and the signal corresponding to the incoming wave direction of 73 ° is the main diameter signal of the direction finding receiving station 0.
Step S130: and determining a plurality of time difference values according to the main path signal received by the direction-finding receiving station, the received signal of each single-channel receiving station and the time stamp of each received signal.
Since the distances between the receiving stations and the target radiation source are not equal, time differences exist between the times at which the receiving stations receive signals, and still taking the embodiment shown in fig. 2 as an example, the main path signal and the multi-path signal of the received signal of the single-channel receiving station do not need to be separated, that is, the received signal of the single-channel receiving station can be regarded as one-path signal, the received signals of the receiving stations 1 and 2 can be regarded as one-path signal, each of the received signals has a time stamp, one time difference exists between the main path signal of the direction-finding receiving station 0 and the received signal of the receiving station 1, the value of the time difference is regarded as a first time difference value, one time difference exists between the main path signal of the direction-finding receiving station 0 and the received signal of the receiving station 2, and the value of the time difference is regarded as a second time difference value.
Before extracting the time difference value, the time stamp of each path of received signal is utilized to align the main path signal with the received signal of each single-channel receiving station.
Then, respectively carrying out sliding cross-correlation processing on the main diameter signal and the receiving signal of each single-channel receiving station to obtain a plurality of correlation curves, specifically, carrying out sliding cross-correlation processing on the main diameter signal of the direction-finding receiving station 0 and the receiving station 1 to obtain a correlation curve, and marking the correlation curve as a first correlation curve; and performing sliding cross-correlation processing on the main path signal of the direction-finding receiving station 0 and the receiving station 2 to obtain a correlation curve, and recording the correlation curve as a second correlation curve. Taking fig. 5 as an example, fig. 5 is a graph of the results of the time difference extraction sliding cross-correlation according to an embodiment of the present application, and it can be seen from fig. 5 that the curves in the graph are correlation curves, and in one correlation curve, two peaks exist.
Taking the first correlation curve as an example, taking the maximum value of the first front from left to right as the first time difference value for the first correlation curve, in some embodiments of the present application, interpolation may be performed to improve the accuracy of the time difference value, specifically, interpolation is performed on the maximum value of the first front and the values of the two points before and after the maximum value, so as to obtain the first time difference value. Similarly, a second time difference value can be obtained. Here, the "two front and rear points" are determined based on the minimum unit of the number of sliding points, and the passage is 1.
Step S140: and performing multi-station time difference positioning according to the plurality of time difference values to obtain the position information of the target radiation source.
And finally, performing multi-station time difference positioning on the obtained multiple time difference values, wherein in some embodiments of the application, the positioning method can refer to one of the prior art, in other embodiments, the least square method, the Chan algorithm or the Taylor iterative algorithm can be adopted to perform radiation source position calculation to obtain position information of the target radiation source, and various algorithms have different characteristics, for example, the Chan algorithm is used as an example, the Chan algorithm is widely applied, mainly has the characteristic that a final result and positioning accuracy can be obtained by performing iteration twice without an initial value, and can reach the lower limit of the Clariterole in a line-of-sight environment. The positioning algorithm can be selected according to actual needs.
As shown in fig. 6, fig. 6 is a graph of the result of the least square method of moveout localization according to an embodiment of the present application, and it can be seen from fig. 6 that the calculated position of the target radiation source is (4.091,13.322) km, the error is 163m, and the localization result is very accurate.
In summary, as can be seen from the method shown in fig. 1, the present application utilizes one direction-finding receiving station and other multiple single-channel receiving stations to simultaneously receive target radiation source signals; after the receiving station with the direction-finding function carries out coherent signal direction finding on the received data, carrying out null processing on each measured direction respectively to obtain a main diameter signal; then, the separated main path signals are correlated with signals received by other single-channel receiving stations and the time difference is extracted; and finally, performing time difference positioning by using the obtained plurality of time difference information to obtain the real position of the target radiation source. The method can be realized by replacing a single-channel receiving device in the original time difference positioning system with a multi-channel receiving device with direction finding capability, so that the method can greatly improve the time difference positioning accuracy of the target radiation source in a multipath environment with little hardware improvement cost, and has the advantages of simple algorithm, small calculation amount, wide application range and strong practicability.
Fig. 7 is a schematic structural diagram of a direction-finding based time difference locating apparatus according to an embodiment of the present application, and as can be seen from fig. 7, the apparatus 700 includes:
a signal obtaining unit 710, configured to simultaneously and respectively receive target radiation source signals by using a direction-finding receiving station and multiple single-channel receiving stations, and synchronously timestamp the received signals;
a main path signal determining unit 720, configured to determine, according to the received signal of the direction-finding receiving station, a main path signal received by the direction-finding receiving station;
a time difference value determining unit 730, configured to determine a plurality of time difference values according to the main path signal received by the direction-finding receiving station, the received signal of each single-channel receiving station, and the timestamp of each received signal;
and a positioning unit 740, configured to perform multi-station time difference positioning according to the multiple time difference values, so as to obtain position information of the target radiation source.
In some embodiments of the present application, in the above apparatus, the number of direction-finding array elements of the direction-finding receiving station is not less than the sum of the number of incoming wave directions of the received signals and 2.
In some embodiments of the present application, in the above apparatus, the main path signal determining unit 720 is configured to perform coherent signal direction measurement on the received signal by using the direction-finding receiving station, and then perform null processing on each measured incoming wave direction to determine the main path signal received by the direction-finding receiving station.
In some embodiments of the present application, in the above apparatus, the coherent signal direction finding is implemented by using a multiple signal classification method based on spatial smoothing or a signal subspace-based method.
In some embodiments of the present application, in the above apparatus, the main diameter signal determining unit 720 is configured to select one incoming wave direction for each of all incoming wave directions measured by the direction finding receiving station without nulling and nulling other incoming wave directions to obtain receiving signals corresponding to each incoming wave direction; the receiving station is used for determining the main path incoming wave direction of the direction-finding receiving station according to the maximum amplitude value of the receiving signals corresponding to each incoming wave direction, and determining the main path signals received by the direction-finding receiving station according to the receiving signals corresponding to the main path incoming wave direction.
In some embodiments of the present application, in the above apparatus, the time difference value determining unit 730 is configured to align the main path signal with the received signal of each single-channel receiving station according to the timestamp of each received signal; the main path signal and the receiving signals of each single-channel receiving station are subjected to sliding cross-correlation processing to obtain a plurality of correlation curves; and the time difference value is determined corresponding to each single-channel receiving station.
In some embodiments of the present application, in the above apparatus, the positioning unit 740 is configured to perform radiation source position calculation on the multiple time difference values by using a least square method, a Chan algorithm, or a Taylor iterative algorithm, so as to obtain position information of the target radiation source.
It should be noted that the time difference positioning device based on direction finding can implement the time difference positioning method based on direction finding one by one, and details are not repeated.
Fig. 8 is a schematic structural diagram of a direction-finding based moveout location system according to an embodiment of the present application, and as can be seen from fig. 8, the system 800 includes: a direction-finding based time difference location means 700, a direction-finding receiving station 810 and a plurality of single-channel receiving stations 820, said direction-finding based time difference location means 700 being provided separately or within said direction-finding receiving station 810 or within one of the single-channel receiving stations 820.
The direction-finding receiving station 810 and the plurality of single-channel receiving stations 820 are configured to simultaneously and respectively receive target radiation source signals and synchronously timestamp the received signals;
the direction-finding-based time difference positioning device 700 is configured to determine, according to the received signal of the direction-finding receiving station 810, a main path signal received by the direction-finding receiving station; determining a plurality of time difference values according to the main path signal received by the direction-finding receiving station, the received signal of each single-channel receiving station and the time stamp of each received signal; and performing multi-station time difference positioning according to the plurality of time difference values to obtain the position information of the target radiation source.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 9, at a hardware level, the electronic device includes a processor and a memory, and optionally further includes a network interface and the like. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 9, but this does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs, forming the server of the mobile workstation on a logical level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
simultaneously receiving target radiation source signals by using a direction-finding receiving station and a plurality of single-channel receiving stations respectively, and synchronously stamping time stamps on the received signals;
determining a main path signal received by the direction-finding receiving station according to a received signal of the direction-finding receiving station;
determining a plurality of time difference values according to the main path signal received by the direction-finding receiving station, the received signal of each single-channel receiving station and the time stamp of each received signal;
and performing multi-station time difference positioning according to the plurality of time difference values to obtain the position information of the target radiation source.
The method disclosed in the embodiment of fig. 1 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The electronic device may further execute the method executed by the direction-finding-based time difference positioning apparatus in fig. 7, and implement the functions of the direction-finding-based time difference positioning apparatus in the embodiment shown in fig. 7, which are not described herein again in this embodiment of the present application.
An embodiment of the present application further provides a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which when executed by an electronic device including a plurality of application programs, enable the electronic device to perform the method performed by the direction-finding-based time difference positioning apparatus in fig. 7, and are specifically configured to perform:
simultaneously receiving target radiation source signals by using a direction-finding receiving station and a plurality of single-channel receiving stations respectively, and synchronously stamping time stamps on the received signals;
determining a main path signal received by the direction-finding receiving station according to a received signal of the direction-finding receiving station;
determining a plurality of time difference values according to the main path signal received by the direction-finding receiving station, the received signal of each single-channel receiving station and the time stamp of each received signal;
and performing multi-station time difference positioning according to the plurality of time difference values to obtain the position information of the target radiation source.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A time difference positioning method based on direction finding is characterized by comprising the following steps:
simultaneously receiving target radiation source signals by using a direction-finding receiving station and a plurality of single-channel receiving stations respectively, and synchronously stamping time stamps on the received signals;
determining a main path signal received by the direction-finding receiving station according to a received signal of the direction-finding receiving station;
determining a plurality of time difference values according to the main path signal received by the direction-finding receiving station, the received signal of each single-channel receiving station and the time stamp of each received signal;
and performing multi-station time difference positioning according to the plurality of time difference values to obtain the position information of the target radiation source.
2. The method of claim 1, wherein the number of direction-finding array elements of the direction-finding receiving station is not less than the sum of the number of incoming wave directions of the received signals and 2.
3. The method of claim 1, wherein the determining the main path signal received by the direction-finding receiving station according to the received signal of the direction-finding receiving station comprises:
after the direction-finding receiving station is used for carrying out coherent signal direction finding on the received signals, the measured incoming wave directions are respectively subjected to null processing to determine main path signals received by the direction-finding receiving station.
4. The method of claim 3, wherein the coherent signal direction finding is performed by a multiple signal classification method based on spatial smoothing or a signal subspace-based method.
5. The method according to claim 3, wherein said determining the main path signal received by the direction-finding receiving station by performing nulling processing on each measured incoming wave direction comprises:
selecting one incoming wave direction for each time without nulling and nulling other incoming wave directions for all incoming wave directions measured by the direction-finding receiving station to obtain receiving signals corresponding to all the incoming wave directions;
and determining the main path incoming wave direction of the direction-finding receiving station according to the maximum amplitude value of the received signals corresponding to each incoming wave direction, and determining the main path signals received by the direction-finding receiving station according to the received signals corresponding to the main path incoming wave direction.
6. The method of claim 1, wherein determining a plurality of time difference values based on the main path signal, the received signals at each single-channel receiving station, and the time stamps of each received signal comprises:
aligning the main path signal with the received signal of each single-channel receiving station according to the time stamp of each received signal;
respectively carrying out sliding cross-correlation processing on the main path signals and the receiving signals of each single-channel receiving station to obtain a plurality of correlation curves;
and (4) carrying out interpolation processing on the maximum value of the first front of each correlation curve from left to right and the values of two points before and after the maximum value, and determining a time difference value corresponding to each single-channel receiving station.
7. The method of claim 1, wherein said performing a multi-station moveout location based on said plurality of time difference values to obtain position information of said target radiation source comprises:
and performing radiation source position calculation on the plurality of time difference values by adopting a least square method, a Chan algorithm or a Taylor iterative algorithm to obtain position information of the target radiation source.
8. A direction finding based time difference location device, comprising:
the signal acquisition unit is used for simultaneously and respectively receiving target radiation source signals by utilizing a direction-finding receiving station and a plurality of single-channel receiving stations and synchronously stamping time stamps on the received signals;
a main path signal determining unit, configured to determine a main path signal received by the direction-finding receiving station according to a received signal of the direction-finding receiving station;
the time difference value determining unit is used for determining a plurality of time difference values according to the main path signal received by the direction-finding receiving station, the received signal of each single-channel receiving station and the time stamp of each received signal;
and the positioning unit is used for performing multi-station time difference positioning according to the plurality of time difference values to obtain the position information of the target radiation source.
9. The apparatus according to claim 8, wherein the main path signal determining unit is specifically configured to perform null steering processing on each measured incoming wave direction respectively to determine the main path signal received by the direction-finding receiving station after the direction-finding receiving station performs coherent signal direction-finding on the received signal.
10. A direction finding based moveout location system, the system comprising: the time difference positioning device based on direction finding is independently arranged, or arranged in the direction finding receiving station or arranged in one of the single-channel receiving stations;
the direction-finding receiving station and the plurality of single-channel receiving stations are used for simultaneously and respectively receiving target radiation source signals and synchronously stamping time stamps on the received signals;
the time difference positioning device based on direction finding is used for determining a main path signal received by the direction finding receiving station according to a received signal of the direction finding receiving station; determining a plurality of time difference values according to the main path signal received by the direction-finding receiving station, the received signal of each single-channel receiving station and the time stamp of each received signal; and performing multi-station time difference positioning according to the plurality of time difference values to obtain the position information of the target radiation source.
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