CN113777556A

CN113777556A - Radio signal three-dimensional amplitude comparison direction finding method and device

Info

Publication number: CN113777556A
Application number: CN202110844811.XA
Authority: CN
Inventors: 毕千; 黄勇; 朱亚龙; 吴双; 胡卓非; 袁双; 李正杰
Original assignee: CETC 29 Research Institute
Current assignee: CETC 29 Research Institute
Priority date: 2021-07-26
Filing date: 2021-07-26
Publication date: 2021-12-10
Anticipated expiration: 2041-07-26
Also published as: CN113777556B

Abstract

The invention relates to the technical field of radio direction finding, in particular to a radio signal three-dimensional amplitude comparison direction finding method and a radio signal three-dimensional amplitude comparison direction finding device.

Description

Radio signal three-dimensional amplitude comparison direction finding method and device

Technical Field

The invention relates to the technical field of radio direction finding, in particular to a radio signal three-dimensional amplitude comparison direction finding method and device.

Background

With the development of information technology, radio is widely applied in modern society, the number of radio radiation sources (such as radio stations, base stations and the like) is rapidly increased, the radio environment is increasingly complex, limited spectrum resources become increasingly tense, and the phenomenon of illegal radio interference is increasingly serious. In order to promote the healthy and orderly development of the broadcasting, television and communication industries and ensure the smoothness of radio communication, the national radio regulatory department often needs to find the specific position of an illegal radio radiation source.

The direction-finding device is a radiation source signal direction-finding device commonly used by supervision departments, has the advantages of simple equipment, small volume, high interception probability and the like, and is widely used in the aspect of radio radiation source search. The amplitude comparison direction-finding device can realize the direction-finding function of the horizontal plane omnidirectional direction. However, the traditional amplitude comparison direction-finding device only considers direction finding in a horizontal plane and has no capability of measuring a pitch angle. When the radiation source and the amplitude-comparing direction-finding device are not on the same horizontal plane, the direction-finding precision of the amplitude-comparing direction-finding device can be influenced to a certain extent. When the radiation source is located at a high position or a low position relative to the amplitude-comparing direction-finding device, because the coverage range of the elevation dimension of the amplitude-comparing direction-finding antenna is limited, the signal of the radiation source can not be received at all, and the reliability of the amplitude-comparing direction-finding device is seriously influenced.

Therefore, the existing radio signal direction finding technology still has a part to be improved urgently, and a more reasonable technical scheme needs to be provided to solve the defects in the prior art.

Disclosure of Invention

In order to solve the above-mentioned drawbacks of the prior art, the present invention provides a method and an apparatus for three-dimensional radial direction finding of radio signals, which can not only measure the azimuth angle of a target signal, but also measure the pitch angle of the target signal by improving the structure of a direction finding apparatus to perform direction finding on radio signals in both upward and downward directions and comprehensively process radio measurement data, thereby realizing full-pitch omnidirectional three-dimensional direction finding.

In order to achieve the purpose, the direction finding method specifically adopts the technical scheme that:

a radio signal three-dimensional amplitude comparison direction finding method comprises the following steps:

establishing an O-XYZ three-dimensional coordinate system, selecting a plurality of straight lines passing through an origin O on an XOY plane, an XOZ plane and a YOZ plane respectively to equally divide the plane into a plurality of sector areas, and establishing a three-dimensional space azimuth angle and pitch angle lookup table corresponding to calculation vector values of a maximum signal amplitude, a secondary signal amplitude and a plane space azimuth angle in a three-dimensional space six-scale amplitude direction finding;

respectively arranging signal acquisition devices along the positive and negative directions of the coordinate axis;

collecting radio signals and judging that the signals originate from the sector area in each plane;

acquiring the power of a radio signal received by an acquisition device with the largest signal amplitude and the second largest signal amplitude;

obtaining logarithm values related to the amplitude difference of signals received by the maximum and the second maximum acquisition devices, and further obtaining the azimuth angle of a signal source;

and comparing the search table according to the calculation vector value to obtain the azimuth angle and the pitch angle of the signal source in the three-dimensional space.

According to the direction-finding method disclosed by the invention, the direction-finding is carried out by receiving the radio signals in the three-dimensional space, so that not only can the azimuth angle of the signal source in the three-dimensional space be judged, but also the pitch angle of the signal source in the three-dimensional space can be determined, and the measurement accuracy of the position of the signal source can be further improved.

Further, the space is divided into three dimensions, and the areas corresponding to the signal source in the three dimensions are respectively determined, so that the positioning range of the signal source is narrowed, and the direction-finding accuracy of the signal source is improved, specifically, when the area of the surface is divided, the invention optimizes and provides a feasible choice as follows: the method comprises the following steps of selecting a plurality of straight lines passing through an original point O to equally divide a plane into a plurality of fan-shaped areas, specifically selecting initial straight lines coincident with coordinate axes, and equally dividing three planes into eight areas by adjacent straight lines with included angles of 45 degrees. When the scheme is adopted, a straight line superposed on a coordinate axis is taken as an initial straight line, and a straight line passing through an origin O is selected at intervals of 45 degrees as a region dividing line, so that the region is divided into eight equal parts.

Furthermore, when signal acquisition and measurement are carried out, radio signal acquisition is respectively carried out on the positive direction section and the negative direction section of each coordinate axis, and the distance from each acquisition position to the origin is equal in one acquisition period. When the scheme is adopted, the amplitude values of the signals collected by the plurality of signal collecting devices can be compared, so that the position of the signal source on the plane can be judged.

Still further, when specifically determining where position area on the plane the signal source belongs, one of the following feasible options may be adopted: and in any plane, comparing the amplitude of the signals captured by the acquisition devices on the two coordinate axes, and positioning the signal source to an area on the plane according to the comparison of the amplitude.

Specifically, taking the XOY plane as an example, four quadrants of the XOY plane are divided into two regions to obtain eight equally divided regions, the eight regions are respectively marked by 1 to 8 according to the quadrant sequence, and when the regions are determined, the position of the signal source can be quickly determined according to the following rules. The 1 region is a first region and is located in a 0-45 degree range in a first quadrant, and according to the principle that the farther the spatial propagation distance is, the more serious the signal attenuation is, the relationship of the signal amplitude acquired by the signal acquisition device on each coordinate axis is known as follows: x + > Y +, X + > X-, Y + > Y-. The signal amplitude relationship of the four signal acquisition devices can also obtain that the signal source is located in the region 1. Similarly, when the signal source is located in each of the other regions on the plane, the signal amplitudes obtained by each signal acquisition device should satisfy the following relationship:

TABLE 1 relationship between signal intensity of four signal acquisition devices on XOY plane and region of signal source

Signal intensity relation of four signal acquisition devices on XOY plane	Area of signal source
		X+＞Y+、X+＞X-、Y+＞Y-	XOY-1
X+＞X-、Y+＞X+、Y+＞Y-	XOY-2
		X-＞X+、Y+＞X+、Y+＞Y-	XOY-3
X-＞X+、X-＞Y+、Y+＞Y-	XOY-4
		X-＞X+、X-＞Y-、Y-＞Y+	XOY-5
X-＞X+、Y-＞X-、Y-＞Y+	XOY-6
		X+＞X-、Y-＞X+、Y-＞Y+	XOY-7
X+＞X-、X+＞Y-、Y-＞Y+	XOY-8
		X+＞X-、X+＞Y-、Y-＝Y+	X+
X+＝X-、Y+＞X+、Y+＞Y-	Y+
		X-＞X+、Y+＞X+、Y+＝Y-	X-
X+＝X-、Y-＞X+、Y-＞Y+	Y-

Similarly, the corresponding regions of the signal source in the XOZ and YOZ planes can be determined in the same way:

TABLE 2 relationship between signal intensity of four signal acquisition devices on XOZ plane and region of signal source

TABLE 3 relationship between signal intensity of four signal acquisition devices on YOZ plane and region of signal source

Four antenna signal strength relations of YOZ plane	Area of signal source
		Y+＞Z+、Y+＞Y-、Z+＞Z-	YOZ-1
Y+＞Y-、Z+＞Y+、Z+＞Z-	YOZ-2
		Y-＞Y+、Z+＞Y+、Z+＞Z-	YOZ-3
Y-＞Y+、Y-＞Z+、Z+＞Z-	YOZ-4
		Y-＞Y+、Y-＞Z-、Z-＞Z+	YOZ-5
Y-＞Y+、Z-＞Y-、Z-＞Z+	YOZ-6
		Y+＞Y-、Z-＞Y+、Z-＞Z+	YOZ-7
Y+＞Y-、Y+＞Z-、Z-＞Z+	YOZ-8
		Y+＞Y-、Y+＞Z-、Z-＝Z+	Y+
Y+＝Y-、Z+＞Y+、Z+＞Z-	Z+
		Y-＞Y+、Z+＞Y+、Z+＝Z-	Y-
Y+＝Y-、Z-＞Y+、Z-＞Z+	Z-

Further, in the process of determining the position of the signal source, the gain of the signal acquisition device along the coordinate axis is determined as follows:

in the formula: g (theta) is the gain of the plane signal acquisition device, theta is the clip between the signal arrival direction and the beam axis of the signal acquisition deviceAn angle; theta₀For the beam width of the 1/2 signal acquisition device, A, K is a proportionality constant. The beam width of the antenna varies with the radio signal frequency, and the lower the radio signal frequency, the wider the beam width, and the higher the frequency, the narrower the beam width.

Still further, the signal received by the signal acquisition device may reflect its direction information according to the difference of the signal amplitude, and the signal amplitude affects the signal power, so the related information of the signal amplitude can be reversely obtained according to the signal power, specifically, the radio signal power received by the signal acquisition device with the largest signal amplitude is determined as follows:

in the formula: theta is an included angle between the signal arrival direction and the beam axis of the signal acquisition device; theta₀For the beam width of the 1/2 signal acquisition device, A, K is a proportionality constant.

Similarly, the radio signal power received by the signal acquisition device with the second largest signal amplitude is determined as follows:

Still further, the direction of the signal source can be further determined according to the signal amplitude difference value of the maximum signal amplitude and the second maximum signal amplitude radio signal obtained by the signal acquisition device, specifically, the logarithm value related to the signal amplitude difference received by the maximum and second maximum signal acquisition devices is determined according to the following mode, and then the azimuth angle of the signal source is obtained:

in the above formula, R is a logarithmic value related to the amplitude difference of the received signals of the maximum and the second largest signal acquisition devices, and θ is an included angle between the signal arrival direction and the beam axis of the signal acquisition device. After the numerical value is obtained, the azimuth angle and the pitch angle of the signal source can be obtained by comparing and searching through the lookup table, and further the specific position information of the signal source is obtained.

The above discloses a method for determining the azimuth angle and the pitch angle of a signal source in a three-dimensional space, and the invention also discloses a direction-finding device capable of supporting the method, which is specifically explained as follows:

a radio signal three-dimensional amplitude-comparing direction-finding device, comprising:

the signal acquisition device is arranged along the coordinate axes of the O-XYZ coordinate system, and the signal acquisition device is arranged in the positive direction and the negative direction of each coordinate axis and is used for acquiring the detection and reception signals of different spatial positions in the three-dimensional space;

the direction-finding receiver is communicated with the signal acquisition device and is used for filtering and amplifying the intercepted analog signals;

the signal processor is communicated with the direction-finding receiver and the signal acquisition device and is used for converting the analog signals received by the direction-finding receiver into digital signals, calculating actual amplitude difference values of the received signals according to the calibration signals and the received signals, searching a pre-established check value table according to vector lines constructed by the amplitude difference values on various axes on different frequencies and the plane azimuth angle, and acquiring a signal azimuth angle and a pitch angle corresponding to the actual amplitude interpolation;

and the carrier is communicated with the signal processor and receives the data uploaded by the signal processor.

Still further, in order to improve lateral accuracy, the direction-finding device adopted in the invention further comprises:

the frequency band selector is communicated with the signal acquisition device and is used for adjusting the interception frequency point of the signal acquisition device;

and the digital filter is communicated with the signal processor and is used for filtering the measured amplitude difference and filtering wrong direction-finding information.

Further, in some possible schemes, a signal acquisition device is respectively arranged in the positive direction and the negative direction of each coordinate axis.

Compared with the prior art, the invention has the beneficial effects that:

according to the direction finding method and the direction finding device disclosed by the invention, the signals sent by the signal source in the three-dimensional space are collected through the plurality of signal collecting devices, the position area is judged according to the difference of the signal amplitude, and the azimuth angle and the pitch angle of the signal source in the three-dimensional space are further determined according to the signal amplitude, so that the accuracy of the three-dimensional space positioning of the signal source is greatly improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic diagram of a system of a three-dimensional amplitude-comparing direction-finding device.

Fig. 2 shows the spatial coverage of the directional diagram of the signal acquisition device.

Fig. 3 shows the division of the vector coordinates of the directional diagram of the signal acquisition device.

Fig. 4 is an XOY planar directional antenna pattern.

Fig. 5 is an XOZ plane direction finding antenna pattern.

FIG. 6 is a YOZ plane direction finding antenna pattern;

FIG. 7 is a flow chart of a method for measuring an azimuth angle and a pitch angle by the three-dimensional amplitude-comparison direction-finding device;

Detailed Description

The invention is further explained below with reference to the drawings and the specific embodiments.

It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.

Example 1

The existing direction-finding mode of the position of a radio signal source can only determine the azimuth angle of the signal source on a horizontal plane more accurately, and when the signal source is positioned in a high three-dimensional space or has a certain height difference with a direction-finding plane, a lateral method cannot accurately determine the pitch angle of the signal source, so that the direction and the position of the signal source are difficult to accurately determine. In view of such a situation, the present embodiment is optimized to solve the problems in the prior art.

s01: establishing an O-XYZ three-dimensional coordinate system, selecting a plurality of straight lines passing through an origin O on an XOY plane, an XOZ plane and a YOZ plane respectively to equally divide the plane into a plurality of sector areas, and establishing a three-dimensional space azimuth angle and pitch angle lookup table corresponding to calculation vector values of a maximum signal amplitude, a secondary signal amplitude and a plane space azimuth angle in a three-dimensional space six-scale amplitude direction finding;

s02: respectively arranging signal acquisition devices along the positive and negative directions of the coordinate axis;

s03: collecting radio signals and judging that the signals originate from the sector area in each plane;

s04: acquiring the power of a radio signal received by an acquisition device with the largest signal amplitude and the second largest signal amplitude;

s05: obtaining logarithm values related to the amplitude difference of signals received by the maximum and the second maximum acquisition devices, and further obtaining the azimuth angle of a signal source;

s06: and comparing the search table according to the calculation vector value to obtain the azimuth angle and the pitch angle of the signal source in the three-dimensional space.

In this embodiment, a space is divided into three dimensions, and regions corresponding to the signal source in the three dimensions are respectively determined, so as to narrow a positioning range of the signal source, thereby improving the direction-finding accuracy of the signal source, specifically, when the region of the region is divided, this embodiment optimizes and provides one of the following feasible options: the method comprises the following steps of selecting a plurality of straight lines passing through an original point O to equally divide a plane into a plurality of fan-shaped areas, specifically selecting initial straight lines coincident with coordinate axes, and equally dividing three planes into eight areas by adjacent straight lines with included angles of 45 degrees. When the scheme is adopted, a straight line superposed on a coordinate axis is taken as an initial straight line, and a straight line passing through an origin O is selected at intervals of 45 degrees as a region dividing line, so that the region is divided into eight equal parts.

Preferably, during signal acquisition and measurement, radio signal acquisition is performed in positive and negative sections of each coordinate axis, respectively, and the distance from each acquisition position to the origin is equal in one acquisition period. When the scheme is adopted, the amplitude values of the signals collected by the plurality of signal collecting devices can be compared, so that the position of the signal source on the plane can be judged.

Preferably, six positions are set for signal acquisition in the embodiment, and a signal acquisition point is set in both the positive direction and the negative direction of each coordinate axis.

When specifically judging where position area on the plane the signal source belongs to, one of the following feasible options can be adopted: and in any plane, comparing the amplitude of the signals captured by the acquisition devices on the two coordinate axes, and positioning the signal source to an area on the plane according to the comparison of the amplitude.

Specifically, as shown in fig. 3 and 4, taking the XOY plane as an example, four quadrants of the XOY plane are divided into two areas to obtain eight equally divided areas, the eight areas are respectively marked 1 to 8 according to the quadrant sequence, and when the areas are determined, the position of the signal source can be quickly determined according to the following rules. The 1 region is a first region and is located in a 0-45 degree range in a first quadrant, and according to the principle that the farther the spatial propagation distance is, the more serious the signal attenuation is, the relationship of the signal amplitude acquired by the signal acquisition device on each coordinate axis is known as follows: x + > Y +, X + > X-, Y + > Y-. The signal amplitude relationship of the four signal acquisition devices can also obtain that the signal source is located in the region 1. Similarly, when the signal source is located in each of the other regions on the plane, the signal amplitudes obtained by each signal acquisition device should satisfy the following relationship:

Similarly, as shown in fig. 3, 5 and 6, the corresponding regions of the signal source in the XOZ and YOZ planes can be determined according to the same method:

Four-antenna signal strength relation of XOZ plane	Area of signal source
		X+＞Z+、X+＞X-、Z+＞Z-	XOZ-1
X+＞X-、Z+＞X+、Z+＞Z-	XOZ-2
		X-＞X+、Z+＞X+、Z+＞Z-	XOZ-3
X-＞X+、X-＞Z+、Z+＞Z-	XOZ-4
		X-＞X+、X-＞Z-、Z-＞Z+	XOZ-5
X-＞X+、Z-＞X-、Z-＞Z+	XOZ-6
		X+＞X-、Z-＞X+、Z-＞Z+	XOZ-7
X+＞X-、X+＞Z-、Z-＞Z+	XOZ-8
		X+＞X-、X+＞Z-、Z-＝Z+	X+
X+＝X-、Z+＞X+、Z+＞Z-	Z+
		X-＞X+、Z+＞X+、Z+＝Z-	X-
X+＝X-、Z-＞X+、Z-＞Z+	Z-

Preferably, in the determination of the position of the signal source, the gain of the signal acquisition device along the coordinate axis is determined as follows:

in the formula: g (theta) is the gain of the plane signal acquisition device, and theta is the included angle between the signal arrival direction and the beam axis of the signal acquisition device; theta₀For the beam width of the 1/2 signal acquisition device, A, K is a proportionality constant. The beam width of the antenna varies with the radio signal frequency, and the lower the radio signal frequency, the wider the beam width, and the higher the frequency, the narrower the beam width.

Preferably, the signal received by the signal acquisition device can reflect its direction information according to the difference of the signal amplitude, and the signal amplitude affects the signal power, so that the related information of the signal amplitude can be reversely obtained according to the signal power, specifically, the radio signal power received by the signal acquisition device with the largest signal amplitude is determined as follows:

in the formula: theta is signal arrival direction and signal acquisitionThe angle of the beam axis of the container; theta₀For the beam width of the 1/2 signal acquisition device, A, K is a proportionality constant.

Preferably, the signal acquisition device obtains the maximum signal amplitude and the second largest signal amplitude radio signal, and the direction of the signal source can be further determined according to the signal amplitude difference value between the maximum signal amplitude and the second largest signal amplitude radio signal, specifically, the logarithm value related to the signal amplitude difference received by the maximum and second largest signal acquisition devices is determined according to the following method, and then the azimuth angle of the signal source is obtained:

As shown in fig. 7, when the direction finding method provided in the present embodiment is specifically applied, the following matters should be noted:

it can be seen from the analysis of the model and the principle of the three-dimensional amplitude-comparison direction-finding system that the system correction is an indispensable method for improving the direction-finding precision of the amplitude-comparison direction-finding system. The three-dimensional amplitude comparison direction-finding system is placed on a three-dimensional rotary table of a microwave darkroom, the azimuth angle and the pitching angle of the rotary table can be accurately controlled, in addition, signal radiation is carried out on an outward antenna at a certain distance, and the radiation antenna is aligned to the center shaft of the rotary table; measuring output amplitude values of six direction-finding channels for incident signals with different angles and different frequencies according to fixed frequency intervals and fixed rotation angles, recording the amplitude values of the channels when the rotary table is at different frequency point azimuth angles and pitching angles after amplitude value correction is completed, and simultaneously recording azimuth angles of three planes of XOY, XOZ and YOZ. And then constructing a vector line according to the maximum amplitude difference value on each axis and each plane azimuth angle and recording the vector line. Finally, vector lines constructed by the maximum amplitude difference values and the plane azimuth angles on each shaft are obtained in each frequency and each interval, corresponding to the lookup tables of the radio signal azimuth angles and the pitch angles, in practical application, the corresponding azimuth angles and the corresponding pitch angles can be found only by obtaining the frequency values and the amplitude differences and calculating the three vector lines constructed by the maximum amplitude difference values and the plane azimuth angles on each shaft.

In the implementation case, the direction-finding receiver has the same filtering and amplifying capacity for the same frequency point signals in six channels, and in order to improve the instantaneous dynamic range of the direction-finding receiver, a logarithmic amplifier is selected and a band-pass filter is adopted as the filter.

The operation method of the present embodiment is shown in fig. 5, and includes the following steps:

step 1, starting self-checking after a radiation source signal three-dimensional amplitude comparison direction-finding device is electrified;

and 2, judging whether the direction-finding device needs to carry out system correction. If necessary, carrying out system correction according to the flow provided in the steps 3 to 5 to obtain a check value table; if not, starting to carry out three-dimensional amplitude comparison direction finding from the step 6;

step 3, placing the three-dimensional amplitude-comparison direction-finding system on a three-dimensional rotary table of a microwave darkroom, controlling the azimuth angle and the pitching angle of the rotary table, and performing system correction by radiating signals to an external antenna at a certain distance and aligning the radiating antenna to a central shaft of the rotary table;

step 4, measuring output amplitude values of six direction-finding channels for incident signals with different angles and different frequencies according to fixed frequency intervals and fixed rotation angles in a microwave darkroom, recording amplitude values of each channel of the rotary table at different frequency points, different azimuth angles and different pitch angles, and simultaneously recording azimuth angles of three planes of XOY, XOZ and YOZ;

step 5, constructing and recording vector lines according to the maximum amplitude difference values on the shafts and the plane azimuth angles obtained in the step 4, and obtaining a check value table of the amplitude difference value vector lines on the shafts corresponding to the radio signal azimuth angle and the pitch angle;

step 6, after the direction-finding device passes the self-checking, the signal processor reads preset instruction data such as a central frequency point, a sampling frequency, a direction-finding width and the like of a signal to be detected;

step 7, the device starts to carry out three-dimensional amplitude comparison and direction finding, the direction finding device traverses all direction finding antenna amplitudes on X, Y and Z axes, and an antenna X + or X-, Y + or Y-, Z + or Z-with the maximum signal intensity is found out from each axis;

step 8, after the antenna with the maximum signal intensity on the three axes of X, Y and Z is determined, the direction-finding device respectively traverses all the amplitude values of the direction-finding antenna on each axis of the XOY, XOZ and YOZ planes, and finds the antennas with the maximum and second maximum amplitude values of X and Y, X and Z, Y and Z in each plane;

step 9, judging whether the antennas with the largest amplitude and the next largest amplitude in each plane are adjacent, if the measured antennas with the largest amplitude and the next largest amplitude are not adjacent, then generally solving a problem for the direction-finding device, returning to the step 3 to restart after the problem needs to be eliminated, and if the measured antennas with the largest amplitude and the next largest amplitude are adjacent, entering the next step;

step 10, judging whether the amplitudes of the antennas with the largest and the next largest amplitudes in each plane are equal, and if so, taking the central directions of the antennas with the largest and the next largest amplitudes in the plane where the antennas with the largest and the next largest amplitudes are located as the azimuth angle of the plane where the signal source is located; if the received signals are not equal, roughly determining which area the signal source is located in according to the first step of determining the incoming wave azimuth of the radio signals in the invention content, then determining which area the radio signals are located in on the XOY, XOZ and YOZ planes according to the invention content, then receiving signal amplitude values by using the largest and the second largest antennas in the plane, substituting a formula to calculate the azimuth angle of the plane where the signal source is located, and further determining the azimuth angle of the plane where the radio signals are located.

Step 11, recording the azimuth angle and the signal amplitude of each plane obtained in the step 10, and then constructing three vector lines according to the maximum amplitude difference value on each axis and the plane azimuth angle;

and step 12, searching an index table according to the three vector lines constructed by the maximum amplitude difference values on the shafts and the plane azimuth angle obtained in the step 11 to obtain the azimuth angle and the pitch angle of the radio signal, and reporting to finish the three-dimensional amplitude comparison direction finding of the radiation source signal.

Example 2

The above embodiment discloses a method for determining a signal source azimuth angle and a pitch angle in a three-dimensional space, and this embodiment discloses a direction finding device capable of supporting the above method, which is specifically described below:

as shown in fig. 1, a radio signal three-dimensional amplitude and direction finding device includes:

Preferably, the signal acquisition device is a direction-finding antenna, the direction-finding antenna in this embodiment is preferably a helical antenna, or other directional antennas may be selected, 4 helical antennas are vertically installed in the horizontal direction to form a conventional four-amplitude-ratio antenna, then 1 helical antenna is installed at each of two ends of a perpendicular line of a plane where the four-amplitude-ratio antenna is located, six antennas form a four-amplitude-ratio array of azimuth and four-amplitude-ratio array of elevation, and each antenna is distributed at intervals of 90 ° in azimuth or elevation. The selected helical antennas have the same directional diagram function, and the half width of the main lobe exceeds 90 degrees, so that the main lobe coverage of a full pitch airspace and an all-directional airspace can be realized. The antenna pattern coverage is shown in figure 1.

The direction-finding antenna array is used for detecting and receiving radio signals at different spatial positions in a three-dimensional space, and the detected radio signals are analog signals; the direction-finding receiver is used for finishing signal filtering and amplification of six antennas; the signal processor is used for converting the radio analog signals received by the FPGA into digital signals through the digital channelized AD chip, the FPGA calculates the actual amplitude difference value of the received radio signals through the calibration signals and the detection signals, a pre-established check value table is searched according to vector lines constructed by the amplitude difference values on the axes and the plane azimuth angles on different frequencies, the signal azimuth angle and the pitch angle corresponding to the actual amplitude interpolation are obtained, and the carrier is reported.

As shown in fig. 2, the direction-finding antenna pattern has six independent adjacent beams, the field angle θ s of the adjacent antennas is 90 °, and the directions of the antennas are positive X-axis direction, negative X-axis direction, positive Y-axis direction, negative Y-axis direction, positive Z-axis direction, and negative Z-axis direction, respectively, as shown in fig. 2. The four antennas in the positive X-axis direction, the negative X-axis direction, the positive Y-axis direction and the negative Y-axis direction form a four-amplitude-ratio direction on an XOY plane, the four antennas in the positive X-axis direction, the negative X-axis direction, the positive Z-axis direction and the negative Z-axis direction form a four-amplitude-ratio direction on an XOZ plane, and the positive Y-axis direction, the negative Y-axis direction, the positive Z-axis direction and the negative Z-axis direction form a four-amplitude-ratio direction on a YOZ plane.

In order to improve lateral accuracy, the direction-finding device used in this embodiment further includes:

In some possible solutions, a signal acquisition device is respectively arranged in the positive direction and the negative direction of each coordinate axis.

The above embodiments are just exemplified in the present embodiment, but the present embodiment is not limited to the above alternative embodiments, and those skilled in the art can obtain other various embodiments by arbitrarily combining with each other according to the above embodiments, and any other various embodiments can be obtained by anyone in light of the present embodiment. The above detailed description should not be construed as limiting the scope of the present embodiments, which should be defined in the claims, and the description should be used for interpreting the claims.

Claims

1. A radio signal three-dimensional amplitude comparison direction finding method is characterized by comprising the following steps:

2. The radio signal three-dimensional amplitude comparison direction finding method according to claim 1, characterized in that: the method comprises the following steps of selecting a plurality of straight lines passing through an original point O to equally divide a plane into a plurality of fan-shaped areas, specifically selecting initial straight lines coincident with coordinate axes, and equally dividing three planes into eight areas by adjacent straight lines with included angles of 45 degrees.

3. The radio signal three-dimensional amplitude comparison direction finding method according to claim 1, characterized in that: and respectively carrying out radio signal acquisition on a positive direction section and a negative direction section of each coordinate axis, wherein the distance from each acquisition position to the origin is equal in an acquisition period.

4. The radio signal three-dimensional amplitude comparison direction finding method according to claim 1, characterized in that: and in any plane, comparing the amplitude of the signals captured by the acquisition devices on the two coordinate axes, and positioning the signal source to an area on the plane according to the comparison of the amplitude.

5. The method of claim 1, wherein the gain of the signal acquisition device along the coordinate axis is determined as follows:

in the formula: g (theta) is the gain of the plane signal acquisition device, and theta is the included angle between the signal arrival direction and the beam axis of the signal acquisition device; theta₀For the beam width of the 1/2 signal acquisition device, A, K is a proportionality constant.

6. The method of claim 5, wherein the radio signal power received by the signal acquisition device with the largest signal amplitude is determined as follows:

7. The method of claim 6, wherein the power of the radio signal received by the signal acquisition device with the second largest signal amplitude is determined as follows:

8. The method of claim 7, wherein the logarithm value related to the amplitude difference of the received signals of the largest and the second largest signal acquisition devices is determined as follows, so as to obtain the azimuth angle of the signal source:

in the above formula, R is a logarithmic value related to the amplitude difference of the received signals of the maximum and the second largest signal acquisition devices, and θ is an included angle between the signal arrival direction and the beam axis of the signal acquisition device.

9. A radio signal three-dimensional amplitude-comparing direction-finding device, comprising:

10. The radio signal three-dimensional amplitude direction finding device according to claim 9, comprising: