CN114063012B - Target positioning method and system applied to airport scene monitoring multi-point positioning system - Google Patents

Target positioning method and system applied to airport scene monitoring multi-point positioning system Download PDF

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CN114063012B
CN114063012B CN202111339346.0A CN202111339346A CN114063012B CN 114063012 B CN114063012 B CN 114063012B CN 202111339346 A CN202111339346 A CN 202111339346A CN 114063012 B CN114063012 B CN 114063012B
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CN114063012A (en
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彭卫
邹芳
李茂娟
龙梅
曾小强
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Sichuan Agricultural University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
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Abstract

The invention discloses a target positioning method and a target positioning system applied to an airport scene monitoring multi-point positioning system, and relates to the technical field of target positioning; determining target height test statistics according to the two-dimensional coordinate information and x-coordinate values and y-coordinate values in the three-dimensional coordinate information; judging whether the target height test statistic is smaller than or equal to a threshold value; if yes, determining the actual position information of the target according to the two-dimensional coordinate information; if not, determining the actual position information of the target according to the three-dimensional coordinate information. The invention can achieve the purpose of improving the target positioning precision and robustness.

Description

Target positioning method and system applied to airport scene monitoring multi-point positioning system
Technical Field
The invention relates to the technical field of target positioning, in particular to a target positioning method and a target positioning system applied to an airport scene monitoring multi-point positioning system.
Background
The airport scene monitoring multipoint positioning system belongs to passive positioning system based on time difference (TDOA, time Difference Of Arrival), and is based on the principle of acquiring the arrival Time Difference (TDOA) of targets received by receiving stations distributed in different positions, and calculating the coordinates of the targets through a positioning algorithm.
The fixed-height two-dimensional positioning algorithm is to limit the position to be solved of the target to the horizontal plane of the x and y coordinate axes, and directly adopt the scene height on the target height (z coordinate axis) to establish a mathematical model between the target position and the measured TDOA. When airport scene monitoring is applied, since the heights of the receiving stations distributed around the airport are not greatly different, and the heights of the targets in the scene are generally fixed and known, compared with a common three-dimensional positioning algorithm, the two-dimensional positioning algorithm with fixed height has higher positioning precision, stronger robustness and less calculation amount, and is adopted by an airport scene monitoring multi-point positioning system.
However, when the actual height of the target is inconsistent with the scene height (for example, when an airplane in a take-off and landing stage is in a take-off stage, the actual z value of the target is inconsistent with the fixed scene height), the positioning result of the two-dimensional positioning algorithm of the fixed height deviates from the actual position of the target, and generally, the positioning deviation becomes larger as the difference between the actual height of the target and the fixed scene height increases.
Disclosure of Invention
The invention aims to provide a target positioning method and a target positioning system applied to an airport scene monitoring multipoint positioning system, so as to achieve the aim of improving the target positioning precision and robustness.
In order to achieve the above object, the present invention provides the following solutions:
a target positioning method applied to an airport scene monitoring multi-point positioning system, comprising:
acquiring target related information; the target related information comprises three-dimensional coordinate information of a plurality of receiving stations and time differences corresponding to each receiving station; the time difference comprises a theoretical time difference and a noise difference; the theoretical time difference is a difference between the time when the receiving station receives the target transmitting signal and the time when the reference station receives the target transmitting signal, and the noise difference is a difference between the self thermal noise of the receiving station and the self thermal noise of the reference station;
according to the related information of the target, a three-dimensional positioning algorithm is adopted to determine three-dimensional coordinate information of the target;
according to the related information of the target, a two-dimensional positioning algorithm with a fixed height is adopted to determine the two-dimensional coordinate information of the target;
determining target height test statistics; the target height test statistic is determined according to the two-dimensional coordinate information of the target and the x coordinate value and the y coordinate value in the three-dimensional coordinate information of the target;
judging whether the target height test statistic is smaller than or equal to a threshold value;
if yes, determining the actual position information of the target according to the two-dimensional coordinate information;
if not, determining the actual position information of the target according to the three-dimensional coordinate information.
Optionally, the determining the target height test statistic specifically includes:
according to the three-dimensional coordinate information
Figure BDA0003351279410000021
And the two-dimensional coordinate information->
Figure BDA0003351279410000022
Determining a position difference
Figure BDA0003351279410000023
Calculating a covariance matrix of the position difference;
according to
Figure BDA0003351279410000024
Determining target height test statistics;
wherein ,ξ32 Representing target height test statistics; sigma and method for producing the same 32 Representing the position difference delta 32 Is of the covariance matrix, Σ 3 -1 in-21 represents inversion.
Optionally, the determining whether the target height test statistic is less than or equal to a threshold value specifically includes:
determining a threshold value; the threshold value is
Figure BDA0003351279410000025
Alpha is the level of significance, ->
Figure BDA0003351279410000026
Is chi-square distribution with the degree of freedom of 2;
and judging whether the target height test statistic is smaller than or equal to the threshold lambda.
Optionally, the determining the target height test statistic specifically includes:
based on t in a period of time 1 ,t 2 ,…t w Three-dimensional coordinate information of (2)
Figure BDA0003351279410000031
And two-dimensional coordinate information->
Figure BDA0003351279410000032
Calculating a position difference vector +.>
Figure BDA0003351279410000033
wherein ,
Figure BDA0003351279410000034
where w may be adjusted according to accuracy and real-time requirements.
Calculating a covariance matrix of the position difference vector
Figure BDA0003351279410000035
According to the formula
Figure BDA0003351279410000036
Determining target height test statistics;
wherein ,
Figure BDA0003351279410000037
representing target height test statistics; />
Figure BDA0003351279410000038
Covariance matrix representing position difference vector, +.>
Figure BDA0003351279410000039
And-1 in (2) represents inversion. />
Optionally, the determining whether the target height test statistic is less than or equal to a threshold value specifically includes:
determining a threshold value; the threshold value is
Figure BDA00033512794100000310
α w For the level of significance, ->
Figure BDA00033512794100000311
Is chi-square distribution with the degree of freedom of 2 w;
determining whether the target height test statistic is less than or equal to the threshold lambda w 。
An object positioning system for use in an airport scene surveillance multi-point positioning system, comprising:
the data acquisition module is used for acquiring the related information of the target; the target related information comprises three-dimensional coordinate information of a plurality of receiving stations and time differences corresponding to each receiving station; the time difference comprises a theoretical time difference and a noise difference; the theoretical time difference is a difference between the time when the receiving station receives the target transmitting signal and the time when the reference station receives the target transmitting signal, and the noise difference is a difference between the self thermal noise of the receiving station and the self thermal noise of the reference station;
the three-dimensional coordinate information determining module is used for determining three-dimensional coordinate information of the target by adopting a three-dimensional positioning algorithm according to the related information of the target;
the two-dimensional coordinate information determining module is used for determining two-dimensional coordinate information of the target by adopting a two-dimensional positioning algorithm with fixed height according to the related information of the target;
the target height test statistic determining module is used for determining target height test statistic; the target height test statistic is determined according to the two-dimensional coordinate information of the target and the x coordinate value and the y coordinate value in the three-dimensional coordinate information of the target;
the judging module is used for judging whether the target height test statistic is smaller than or equal to a threshold value;
the actual position information determining module is used for:
when the target height test statistic is smaller than or equal to a threshold value, determining actual position information of the target according to the two-dimensional coordinate information;
and when the target height test statistic is greater than a threshold value, determining the actual position information of the target according to the three-dimensional coordinate information.
Optionally, the target height test statistic determining module specifically includes:
a position difference calculating unit for calculating the position difference according to the three-dimensional coordinate information
Figure BDA0003351279410000041
And the two-dimensional coordinate information
Figure BDA0003351279410000042
Determining position difference->
Figure BDA0003351279410000043
A covariance matrix calculation unit for calculating a covariance matrix of the position difference;
a target height test statistic determining unit for determining the target height test statistic according to
Figure BDA0003351279410000044
Determining target height test statistics;
wherein ,ξ32 Representing target height test statistics; sigma and method for producing the same 32 Representing the position difference delta 32 Is used for the co-variance matrix of (a),
Figure BDA0003351279410000045
and-1 in (2) represents inversion.
Optionally, the judging module specifically includes:
a threshold value determining unit configured to determine a threshold value; the threshold value is
Figure BDA0003351279410000046
Alpha is the level of significance, ->
Figure BDA0003351279410000051
Is chi-square distribution with the degree of freedom of 2;
and the judging unit is used for judging whether the target height test statistic is smaller than or equal to the threshold lambda.
Optionally, the target height test statistic determining module specifically includes:
a position difference vector calculation unit for calculating a position difference vector based on t in a period of time 1 ,t 2 ,…t w Three-dimensional coordinate information of (2)
Figure BDA0003351279410000052
And two-dimensional coordinate information->
Figure BDA0003351279410000053
Calculating a position difference vector +.>
Figure BDA0003351279410000054
wherein ,/>
Figure BDA0003351279410000055
A covariance matrix calculation unit for calculating a covariance matrix of the position difference vector
Figure BDA0003351279410000056
Target height test statistic determining unit for determining target height test statistic according to formula
Figure BDA0003351279410000057
Determining target height test statistics;
wherein ,
Figure BDA0003351279410000058
representing target height test statistics; />
Figure BDA0003351279410000059
Covariance matrix representing position difference vector, +.>
Figure BDA00033512794100000510
And-1 in (2) represents inversion.
Optionally, the judging module specifically includes:
a threshold value determining unit configured to determine a threshold value; the threshold value is
Figure BDA00033512794100000511
α w In order to be a level of significance,
Figure BDA00033512794100000512
is chi-square distribution with the degree of freedom of 2 w;
a judging unit for judging whether the target height test statistic is less than or equal to the threshold lambda w 。
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
aiming at the time difference and the noise difference received by the same target, the invention runs a two-dimensional positioning algorithm and a three-dimensional positioning algorithm with fixed heights, combines the positioning result of the two-dimensional positioning algorithm and the positioning result of the three-dimensional positioning algorithm with fixed heights, constructs target height test statistics, judges that the target is consistent with the scene height when the constructed target height test statistics are smaller than a threshold value, and adopts the positioning result of the two-dimensional positioning algorithm with fixed heights as the position of the target; when the constructed target height test statistic is greater than the threshold value, the target is judged to be inconsistent with the scene height, and a three-dimensional positioning algorithm is adopted to serve as the position of the target, so that the aims of improving the positioning accuracy and the robustness of the target are fulfilled.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a target positioning method applied to an airport scene monitoring multi-point positioning system according to the present invention;
FIG. 2 is a diagram of the target height test statistic implementation steps of a single sample according to the present invention;
FIG. 3 is a diagram of a step of implementing target height test statistics for multiple samples according to the present invention;
fig. 4 is a schematic structural diagram of an object positioning system applied to an airport scene monitoring multi-point positioning system according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
For the time difference multi-point positioning system applied to airport scene monitoring, the two-dimensional positioning algorithm with fixed height has the advantages of high positioning precision, strong robustness, small calculated amount and the like, but when the actual height of a target is inconsistent with the fixed height (scene height), the defects of inconsistent positioning result and actual position exist. The invention provides a method and a system for detecting whether the actual height of a target is consistent with the fixed height (scene height) by combining a fixed-height two-dimensional positioning algorithm and a three-dimensional positioning algorithm, so that the positioning algorithm is automatically switched in the actual engineering: when the target height is consistent with the airport scene height, adopting a two-dimensional positioning algorithm with fixed height; when the target height is inconsistent with the airport scene height, switching to a three-dimensional positioning algorithm. As the actual height of the airport scene target is consistent with the scene height in most of the time, the invention has stronger practical engineering significance.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
The embodiment provides a target positioning method applied to an airport scene monitoring multi-point positioning system, which is used for automatically detecting whether the actual height of a target is consistent with the scene height, and adopting a positioning result of a two-dimensional positioning algorithm with fixed height when the target height is consistent with the scene height; and when the target height is inconsistent with the scene height, adopting a positioning result of a three-dimensional positioning algorithm.
FIG. 1 is a schematic flow chart of a target positioning method applied to an airport scene monitoring multi-point positioning system; wherein the airport scene monitoring multi-point positioning system comprises 1 reference station and a plurality of receiving stations.
Referring to fig. 1, the method provided in this embodiment includes the following steps.
Step 101: acquiring target related information; the target related information comprises three-dimensional coordinate information of a plurality of receiving stations and time differences corresponding to each receiving station; the time difference comprises a theoretical time difference and a noise difference; the theoretical time difference is a difference between the time when the receiving station receives the target transmitting signal and the time when the reference station receives the target transmitting signal, and the noise difference is a difference between the self thermal noise of the receiving station and the self thermal noise of the reference station.
One example is: the airport scene monitoring multi-point positioning system is provided with M receiving stations, and the coordinates of the receiving stations are respectively (x) i ,y i ,z i ) I=1 to M. Let the noise of each receiving station be normally distributed to N (0, sigma) 2 ). Let (x, y, z) be the position information of the object to be solved, and c be the electromagnetic wave velocity. Taking a first receiving station as a reference station, t i1 ,η i1 (i=2 to M) are respectively expressed as a theoretical time difference and a noise difference corresponding to the i-th receiving station.
Step 102: according to the related information of the target, a three-dimensional positioning algorithm is adopted to determine three-dimensional coordinate information of the target, and the method specifically comprises the following steps:
according to the formula
Figure BDA0003351279410000081
Three-dimensional coordinate information of the object is determined.
Step 103: and determining the two-dimensional coordinate information of the target by adopting a two-dimensional positioning algorithm with fixed height according to the related information of the target.
The fixed-height two-dimensional positioning algorithm considers that the target height is known (i.e. the scene height z 0 ) The position (x, y) of the target on the horizontal plane is considered as the to-be-solved variable, namely according to the formula
Figure BDA0003351279410000082
Two-dimensional coordinate information of the object is determined.
T received for the same target i1 +η i1 I=2 to M, and a three-dimensional positioning algorithm and a two-dimensional positioning algorithm with a fixed height are simultaneously used for position calculation. The target positioning result calculated by the three-dimensional positioning algorithm is
Figure BDA0003351279410000083
The target positioning result calculated by the two-dimensional positioning algorithm with fixed height is +.>
Figure BDA0003351279410000084
Preferably, step 102 and step 103 described in this embodiment may be performed simultaneously.
Step 104: determining target height test statistics; the target height test statistic is determined according to the two-dimensional coordinate information of the target and the x coordinate value and the y coordinate value in the three-dimensional coordinate information of the target.
Step 105: judging whether the target height test statistic is smaller than or equal to a threshold value, if so, executing step 106; if not, go to step 107.
Step 106: and determining the actual position information of the target according to the two-dimensional coordinate information.
Step 107: and determining the actual position information of the target according to the three-dimensional coordinate information.
Two methods may be used in steps 104 through 107 to construct the target height test statistic to determine the target location. The two methods described herein determine target height test statistics for a single sample and target height test statistics for multiple samples.
As shown in fig. 2, the process of determining the target height test statistic by a single sample and then determining the target position is as follows:
target positioning result calculated by three-dimensional positioning algorithm
Figure BDA0003351279410000091
Is->
Figure BDA0003351279410000092
Taking out, subtracting the target positioning result calculated by the two-dimensional positioning algorithm with fixed height +.>
Figure BDA0003351279410000093
Namely, position difference->
Figure BDA0003351279410000094
Calculating covariance matrix of position difference, i.e. Edelta 32 E { · } here represents the computational mathematical expectation,
Figure BDA0003351279410000095
Σ 32 ＝cov{Δ 32 [ delta ] represents 32 Cov {.cndot } represents the calculated covariance matrix.
The target height test statistic constructed at this time is
Figure BDA0003351279410000096
wherein ,
Figure BDA0003351279410000097
and-1 in (2) represents inversion.
When the target height is consistent with the scene height, ζ 32 Is a chi-square distribution with a degree of freedom of 2.
Figure BDA0003351279410000098
Sigma of (b) 32 The expression of (2) is:
Figure BDA0003351279410000099
wherein ：
Figure BDA0003351279410000101
Figure BDA0003351279410000102
Figure BDA0003351279410000103
Figure BDA0003351279410000104
/>
is provided with
Figure BDA0003351279410000105
Q＝E{NN T }，/>
Figure BDA0003351279410000106
The x and y in the above formula are unknowns, and in practice, the target positioning result calculated by the two-dimensional positioning algorithm can be used
Figure BDA0003351279410000107
Carry in to make the calculation.
Based on the above, a target height test statistic may be determined.
If the significance level alpha is set, the threshold lambda can be determined and the xi is used 32 And (3) performing judgment of hypothesis testing:
when (when)
Figure BDA0003351279410000108
When the height of the target is consistent with the height of the scene, the position information of the target can be determined according to the two-dimensional coordinate information.
When (when)
Figure BDA0003351279410000109
And if the target height is inconsistent with the scene height, determining the position information of the target according to the three-dimensional coordinate information.
wherein ,
Figure BDA00033512794100001010
is a chi-square distribution with the degree of freedom of 2.
As shown in fig. 3, the process of determining the target height test statistic by multiple samples and further determining the target position is as follows:
t over a period of time 1 ,t 2 ,…t w The positioning data estimated by the corresponding three-dimensional positioning algorithm is
Figure BDA0003351279410000111
Figure BDA0003351279410000112
The positioning data estimated by the two-dimensional positioning algorithm of fixed height is +.>
Figure BDA0003351279410000113
Figure BDA0003351279410000114
The corresponding time t can be obtained i Position difference vector on upper x, y axis: />
Figure BDA0003351279410000115
/>
Figure BDA0003351279410000116
The w position difference vectors may form a sliding window for processing. Where w may be adjusted according to accuracy and real-time requirements.
1. Calculating covariance matrix based on position difference vector
Figure BDA0003351279410000117
2. Forming test statistics
Figure BDA0003351279410000118
The test statistic at this time is a chi-square distribution with a degree of freedom of 2 w.
3. Setting a significance level alpha w Then a threshold lambda may be determined w Reuse is carried out
Figure BDA0003351279410000119
And (3) judging:
when (when)
Figure BDA00033512794100001110
When the height of the target is consistent with the height of the scene, the position information of the target can be determined according to the two-dimensional coordinate information.
When (when)
Figure BDA0003351279410000121
And if the target height is inconsistent with the scene height, determining the position information of the target according to the three-dimensional coordinate information.
Fig. 4 is a schematic structural diagram of a target positioning system applied to an airport scene monitoring multipoint positioning system according to the present invention, and as shown in fig. 4, the target positioning system provided in this embodiment includes:
a data acquisition module 401, configured to acquire target related information; the target related information comprises three-dimensional coordinate information of a plurality of receiving stations and time differences corresponding to each receiving station; the time difference comprises a theoretical time difference and a noise difference; the theoretical time difference is a difference between the time when the receiving station receives the target transmitting signal and the time when the reference station receives the target transmitting signal, and the noise difference is a difference between the self thermal noise of the receiving station and the self thermal noise of the reference station.
The three-dimensional coordinate information determining module 402 is configured to determine three-dimensional coordinate information of the target by using a three-dimensional positioning algorithm according to the target related information.
The two-dimensional coordinate information determining module 403 is configured to determine two-dimensional coordinate information of the target by using a two-dimensional positioning algorithm with a fixed height according to the target related information.
A target height test statistic determination module 404 for determining a target height test statistic; the target height test statistic is determined according to the two-dimensional coordinate information of the target and the x coordinate value and the y coordinate value in the three-dimensional coordinate information of the target.
A determining module 405, configured to determine whether the target height test statistic is less than or equal to a threshold.
The actual location information determining module 406 is configured to:
and when the target height test statistic is smaller than or equal to a threshold value, determining the actual position information of the target according to the two-dimensional coordinate information.
And when the target height test statistic is greater than a threshold value, determining the actual position information of the target according to the three-dimensional coordinate information.
In one example, the target height test statistic determination module 404 specifically includes:
a position difference calculating unit for calculating the position difference according to the three-dimensional coordinate information
Figure BDA0003351279410000122
And the two-dimensional coordinate information
Figure BDA0003351279410000131
Determining position difference->
Figure BDA0003351279410000132
And the covariance matrix calculation unit is used for calculating a covariance matrix of the position difference.
A target height test statistic determining unit for determining the target height test statistic according to
Figure BDA0003351279410000133
Target height test statistics are determined.
wherein ,ξ32 Representing target height test statistics; sigma and method for producing the same 32 Representing the position difference delta 32 Is used for the co-variance matrix of (a),
Figure BDA0003351279410000134
and-1 in (2) represents inversion.
The judging module 405 specifically includes:
a threshold value determining unit configured to determine a threshold value; the threshold value is
Figure BDA0003351279410000135
Alpha is the level of significance, ->
Figure BDA0003351279410000136
Is a chi-square distribution with the degree of freedom of 2.
And the judging unit is used for judging whether the target height test statistic is smaller than or equal to the threshold lambda.
In another example, the target height test statistic determining module 404 specifically includes:
a position difference vector calculation unit for calculating a position difference vector based on t in a period of time 1 ,t 2 ,…t w Three-dimensional coordinate information of (2)
Figure BDA0003351279410000137
And two-dimensional coordinate information->
Figure BDA0003351279410000138
Calculating a position difference vector +.>
Figure BDA0003351279410000139
wherein ,/>
Figure BDA00033512794100001310
A covariance matrix calculation unit for calculating a covariance matrix of the position difference vector
Figure BDA0003351279410000141
Target height test statistic determining unit for determining target height test statistic according to formula
Figure BDA0003351279410000142
Target height test statistics are determined.
wherein ,
Figure BDA0003351279410000143
representing target height test statistics; />
Figure BDA0003351279410000144
Covariance matrix representing position difference vector, +.>
Figure BDA0003351279410000145
And-1 in (2) represents inversion. />
The judging module 405 specifically includes:
a threshold value determining unit configured to determine a threshold value; the threshold value is
Figure BDA0003351279410000146
α w In order to be a level of significance,
Figure BDA0003351279410000147
is a chi-square distribution with the degree of freedom of 2 w.
A judging unit for judging whether the target height test statistic is less than or equal to the threshold lambda w 。
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims (10)

1. A target positioning method applied to an airport scene monitoring multi-point positioning system, comprising:
acquiring target related information; the target related information comprises three-dimensional coordinate information of a plurality of receiving stations and time differences corresponding to each receiving station; the time difference comprises a theoretical time difference and a noise difference; the theoretical time difference is a difference value between the time when the receiving station receives the target transmitting signal and the time when the reference station receives the target transmitting signal, and the noise difference is a difference value between the self thermal noise of the receiving station and the self thermal noise of the reference station;
according to the related information of the target, a three-dimensional positioning algorithm is adopted to determine three-dimensional coordinate information of the target;
according to the related information of the target, a two-dimensional positioning algorithm with a fixed height is adopted to determine the two-dimensional coordinate information of the target;
determining target height test statistics; the target height test statistic is determined according to the two-dimensional coordinate information of the target and the x coordinate value and the y coordinate value in the three-dimensional coordinate information of the target;
judging whether the target height test statistic is smaller than or equal to a threshold value;
if yes, determining the actual position information of the target according to the two-dimensional coordinate information;
if not, determining the actual position information of the target according to the three-dimensional coordinate information.
2. A target positioning method applied to an airport scene surveillance multipoint positioning system according to claim 1, wherein said determining target altitude test statistics comprises:
according to the three-dimensional coordinate information
Figure FDA0004167606440000021
And the two-dimensional coordinate information->
Figure FDA0004167606440000022
Determining a position difference
Figure FDA0004167606440000023
Calculating a covariance matrix of the position difference;
according to
Figure FDA0004167606440000024
Determining target height test statistics;
wherein ,ξ32 Representing target height test statistics; sigma and method for producing the same 32 Representing the position difference delta 32 Is used for the co-variance matrix of (a),
Figure FDA0004167606440000025
and-1 in (2) represents inversion.
3. The method for locating a target applied to an airport scene surveillance multipoint locating system according to claim 2, wherein said determining whether said target altitude test statistic is less than or equal to a threshold value comprises:
determining a threshold value; the threshold value is
Figure FDA0004167606440000026
Alpha is the level of significance, ->
Figure FDA0004167606440000027
Is chi-square distribution with the degree of freedom of 2;
and judging whether the target height test statistic is smaller than or equal to the threshold lambda.
4. A target positioning method applied to an airport scene surveillance multipoint positioning system according to claim 1, wherein said determining target altitude test statistics comprises:
based on t in a period of time 1 ,t 2 ,…t w Three-dimensional coordinate information of (2)
Figure FDA0004167606440000031
Figure FDA0004167606440000032
And two-dimensional coordinate information
Figure FDA0004167606440000033
Calculating a position difference vector +.>
Figure FDA0004167606440000034
wherein ,/>
Figure FDA0004167606440000035
/>
Calculating a covariance matrix of the position difference vector
Figure FDA0004167606440000036
According to the formula
Figure FDA0004167606440000037
Determining target height test statistics;
wherein ,
Figure FDA0004167606440000038
representing target height test statistics; />
Figure FDA0004167606440000039
Representing the positionCovariance matrix of difference vector,>
Figure FDA00041676064400000310
and-1 in (2) represents inversion.
5. The method for locating a target applied to an airport scene surveillance multipoint locating system according to claim 4, wherein said determining whether said target altitude test statistic is less than or equal to a threshold value comprises:
determining a threshold value; the threshold value is
Figure FDA00041676064400000311
α w For the level of significance, ->
Figure FDA00041676064400000312
Is chi-square distribution with the degree of freedom of 2 w;
determining whether the target height test statistic is less than or equal to the threshold lambda w 。
6. An object positioning system for use in an airport scene surveillance multi-point positioning system, comprising:
the data acquisition module is used for acquiring the related information of the target; the target related information comprises three-dimensional coordinate information of a plurality of receiving stations and time differences corresponding to each receiving station; the time difference comprises a theoretical time difference and a noise difference; the theoretical time difference is a difference value between the time when the receiving station receives the target transmitting signal and the time when the reference station receives the target transmitting signal, and the noise difference is a difference value between the self thermal noise of the receiving station and the self thermal noise of the reference station;
the three-dimensional coordinate information determining module is used for determining three-dimensional coordinate information of the target by adopting a three-dimensional positioning algorithm according to the related information of the target;
the two-dimensional coordinate information determining module is used for determining two-dimensional coordinate information of the target by adopting a two-dimensional positioning algorithm with fixed height according to the related information of the target;
the target height test statistic determining module is used for determining target height test statistic; the target height test statistic is determined according to the two-dimensional coordinate information of the target and the x coordinate value and the y coordinate value in the three-dimensional coordinate information of the target;
the judging module is used for judging whether the target height test statistic is smaller than or equal to a threshold value;
the actual position information determining module is used for:
when the target height test statistic is smaller than or equal to a threshold value, determining actual position information of the target according to the two-dimensional coordinate information;
and when the target height test statistic is greater than a threshold value, determining the actual position information of the target according to the three-dimensional coordinate information.
7. An object locating system for use in an airport scene-monitoring multi-point locating system according to claim 6, wherein said object height test statistic determining module comprises:
a position difference calculating unit for calculating the position difference according to the three-dimensional coordinate information
Figure FDA0004167606440000051
And the two-dimensional coordinate information->
Figure FDA0004167606440000052
Determining position difference->
Figure FDA0004167606440000053
/>
A covariance matrix calculation unit for calculating a covariance matrix of the position difference;
a target height test statistic determining unit for determining the target height test statistic according to
Figure FDA0004167606440000054
Determining target height test statistics;
wherein ,ξ32 Representing target height test statistics; sigma and method for producing the same 32 Representing the position difference delta 32 Is used for the co-variance matrix of (a),
Figure FDA0004167606440000055
and-1 in (2) represents inversion.
8. The object positioning system applied to the airport scene-monitoring multipoint positioning system according to claim 7, wherein the judging module specifically comprises:
a threshold value determining unit configured to determine a threshold value; the threshold value is
Figure FDA0004167606440000056
Alpha is the level of significance, ->
Figure FDA0004167606440000057
Is chi-square distribution with the degree of freedom of 2;
and the judging unit is used for judging whether the target height test statistic is smaller than or equal to the threshold lambda.
9. An object locating system for use in an airport scene-monitoring multi-point locating system according to claim 6, wherein said object height test statistic determining module comprises:
a position difference vector calculation unit for calculating a position difference vector based on t in a period of time 1 ,t 2 ,…t w Three-dimensional coordinate information of (2)
Figure FDA0004167606440000061
And two-dimensional coordinate information->
Figure FDA0004167606440000062
Calculating a position difference vector
Figure FDA0004167606440000063
wherein ,/>
Figure FDA0004167606440000064
A covariance matrix calculation unit for calculating a covariance matrix of the position difference vector
Figure FDA0004167606440000065
Target height test statistic determining unit for determining target height test statistic according to formula
Figure FDA0004167606440000066
Determining target height test statistics;
wherein ,
Figure FDA0004167606440000067
representing target height test statistics; />
Figure FDA0004167606440000068
Covariance matrix representing position difference vector, +.>
Figure FDA0004167606440000069
And-1 in (2) represents inversion.
10. The object positioning system applied to the airport scene-monitoring multipoint positioning system according to claim 9, wherein the judging module specifically comprises:
a threshold value determining unit configured to determine a threshold value; the threshold value is
Figure FDA00041676064400000610
α w For the level of significance, ->
Figure FDA00041676064400000611
Is free ofChi-square distribution with the degree of 2 w;
a judging unit for judging whether the target height test statistic is less than or equal to the threshold lambda w 。
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