CN102253364A - Passive non-cooperative target positioning method based on distributed irradiation source - Google Patents

Abstract

The invention provides a passive non-cooperative target positioning method based on a distributed irradiation source. In the method, a non-cooperative target is detected through a plurality of irradiation sources distributed in space, and a multi-point ranging positioning technology is utilized at a receiving end so as to acquire three-dimensional position information of the non-cooperative target. At the receiving end, a system works in a passive mode and has higher stealth performance and higher target positioning accuracy. The defect that positioning accuracy of the traditional passive positioning technology is limited by operating wavebands and the size of receiving antennas is overcome, a high-precision three-dimensional position of the non-cooperative target can be acquired even in a lower operating waveband, and the detection and the tracking of a stealth target is facilitated. In addition, by the method, a three-dimensional speed of the target can be extracted from the three-dimensional position information of the non-cooperative target; and compared with the traditional radar which can only acquire the radial speed of the non-cooperative target, the method contributes to target identification. Finally, a receiving end system has a simple structure, a passive detection function can be realized by additionally arranging a signal processing module on the basis of the conventional radar system, and the system has lower cost and is convenient to upgrade and reform on a large scale.

Description

A kind of noncooperative target Passive Location based on distributed irradiation source

Technical field

The invention belongs to the The radar exploration technique field, it has been particularly related to the passive radar location technology.

Background technology

Passive radar location is meant under the condition of launching electromagnetic wave not, utilizes target reflection or radiated electromagnetic wave, realizes target detection, and obtains the The radar exploration technique of information such as target location, speed.Compare with active Detection Techniques, the passive detection technology has stronger disguise, anti-interference and battlefield survival, is with a wide range of applications in fields such as military surveillance, supervision.

The document of understanding and having delivered according to the inventor, for example: 1. http://www.lockheed-martin.com/products/silent-sentry/index.htm l; 2. Kuschel, H.; O ' Hagan, D.; Passiveradar from history to future, the 11th International Radar Symposium (IRS), 2010, Page (s): 1～4,3. Griffiths, H.D.; Baker, C.J.; Passive coherent location radar systems.Part 1:performance prediction, Radar, Sonar and Navigation, IEE Proceedings-Volume:152, Issue:3,2005, Page (s): 153-159,4. Baker, C.J.; Griffiths, H.D.; Papoutsis, I.; Passive coherent location radar systems.Part 2:waveform properties, Radar, Sonar and Navigation, IEE Proceedings-Volume:152, Issue:3 2005, Page (s): 160-168, University of Oregon is in one's power studied in the Air Research Laboratory of the U.S., Lockheed Corp., Ray Thcon, University of Washington, Georgia, the BAE system house of Britain, the FGAN-FHR of Germany has carried out the technology that irradiation sources such as utilizing radio station, cellular base station carries out passive positioning.

Wherein, " reticent sentry " system of left and right sides Lockheed Corp. exploitation in 1999 is present state-of-the-art passive target detection system.This system adopts passive coherent location technology, utilizes a plurality of commercial FM radio stations as emissive source, adopts the array antenna received continuous wave signal, by real-time detection and the tracking of signal processing technology realization to aerial target.Its detection range 200km, distance covers 150km, and the orientation is to covering the 60-360 degree, and pitching is spent to covering 50, track renewal speed 8 times/second, the target lock-on number is greater than 200.But aspect bearing accuracy, because the angle orientation of " reticent sentry " system obtains by beam-forming technology, therefore, its angle orientation precision is directly proportional with carrier wavelength, be inversely proportional to the receiving antenna size, generally speaking, the angle orientation precision can only reach several years or several years at zero point.When the effect distance was far away, the bearing accuracy of " reticent sentry " system was lower, can only reach the bearing accuracy of km level, has a strong impact on its tracking power to stealthy target.

" reticent sentry " basic reason that system accuracy is lower is the restricting relation of radar angular resolution and service band and antenna size.The present invention is applied to the noncooperative target field of detecting with the multipoint positioning technology of GPS, thereby effectively overcome in the restricting relation of radar angular resolution and service band and antenna size, can obtain higher target location accuracy than low band, known to the inventor, have not yet to see the report that the multipoint positioning technology is applied to noncooperative target passive detection field.

Summary of the invention

In order to overcome the shortcoming that traditional passive positioning technological orientation precision is subjected to service band and receiving antenna size restrictions, the present invention proposes a kind of noncooperative target Passive Location based on distributed irradiation source.This method is surveyed noncooperative target by a plurality of irradiation sources that distribute in the space, and utilizes the multiple point distance measurement location technology at receiving end, obtains the three dimensional local information of noncooperative target.For receiving end, system works is compared with active The radar exploration technique in Passive Mode, and this system has good stealthy performance, also has higher target location accuracy simultaneously.

Content of the present invention for convenience of description, at first make following term definition:

Definition 1, rectangular window function

Duration is that the rectangular window function of T refers to that value is 1 in 0 to T time, is 0 function in the other times value, and note is made U _T(t).But detailed content list of references: Signals ﹠ Systems, second edition, volumes such as Ma Jinlong, Beijing, Science Press, 2006.

Definition 2, wideband radar emission coefficient

The wideband radar emission coefficient is meant and can be transmitted to the electromagnetic electronic system of standing wave shape, mainly form by signal generator, digital to analog converter, carrier frequency modulation module, power amplifier and emitting antenna etc., the leading indicator of wideband radar emission coefficient comprises service band and emissive power, and wherein emissive power requires to utilize radar equation to calculate according to radar horizon.After service band is determined, calculate radar emission power, can determine the wideband radar emission coefficient.But detailed content list of references: the radar handbook, second edition, Merrill I.Skolnik work, Wang Jun etc. translate, Beijing, Electronic Industry Press, 2003.

Definition 3, GPS

GPS refers to utilize the multipoint positioning principle, can determine the global position system of receiving end position, typical GPS is the GPS of USA system, but detailed content list of references: " GPS principle and application ", Elliott D.Kaplan work, Qiu Zhihe, Wang Wanyi translate, Beijing, the Electronic Industry Press, 2002.

Definition 4, radio station and radio station receiver

The radio station is the electronic equipment that points to broadcast message in the space, as, civilian broadcasting station, forces station etc., but detailed content list of references: the design of tactical data link ultrashort wave radio set, the Shandong is clear, Chen Qiang, communication and radio and television, 2005 03 phases, the 1st～5 page.

The radio station receiver is meant the reception radio station broadcast signal, therefrom extracts the electronic equipment that needs information.But detailed content list of references: the design of Simulation and the research of VHF frequency hopping radio set receiver radio frequency front end, Shi Yongre, Chen Jiyue, electronics technology, 2009 09 phases, the 34th～38 page.

Definition 5, wideband radar receiving system

The wideband radar receiving system is meant can receiving electromagnetic signals, and the electronic equipment of go forward side by side line data collection and storage mainly is made up of receiving antenna, prime amplifier, modulus sampling thief and storer etc.The leading indicator of wideband radar receiving system comprises frequency of operation, sample frequency and sampling resolution, after given above-mentioned three indexs, can determine the wideband radar receiving system.But detailed content list of references: the radar handbook, second edition, the MerrillI.Skolnik work, Wang Jun etc. translate, Beijing, Electronic Industry Press, 2003.

Definition 6, relevant treatment

Given two discrete function f (n) and g (n), then the relevant treatment h of two functions (n) is defined as:

$h\left(m\right)=\underset{n=-\∞}{\overset{\∞}{\mathrm{\Σ}}}f\left(n\right)g^{*}(m-n)$

But detailed content list of references: Signals ﹠ Systems, second edition, volumes such as Ma Jinlong, Beijing, Science Press, 2006.

Definition 7, traversal method

The traversal method is meant by pointwise relatively big or small, obtains the method for vectorial maximal value and correspondence position.But detailed content list of references: the contrast of 3 kinds of traversal coarse search methods, Xing Jinjiang, Li Jing, Feng Yuncheng, computer engineering, 2006 06 phases, the 28th～33 page.

Definition 8, vectorial standard deviation

Given vector x, its standard deviation definition σ is:

$\mathrm{\σ}=\sqrt{\underset{i=1}{\overset{H}{\mathrm{\Σ}}}{(x_i-\stackrel{\‾}{x})}^2}$

Wherein,

x _iI element of expression vector x, H represents the dimension of vector.But detailed content list of references: probability and statistics, the prestige Lip river is than work, and Liu Xiufang etc. translate, Beijing, culture and education publishing house, 1981.

Definition 9, vectorial 2 norms

Given vectorial p=[x y z], 2 norms of vectorial p then || p|| ₂Be defined as:

${\left|\right|p\left|\right|}_2=\sqrt{x^2+{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HDA0000056375600000022.png"\; state="\{\{state\}\}">y</figure-callout>}}^2+z^2}$

But detailed content list of references: matrix theory, Chen Daxin writes, Shanghai, publishing house of Shanghai Communications University, 1991.

Definition 10, Nonlinear System of Equations method for solving

The Nonlinear System of Equations method for solving is meant the method for studying in the Optimum Theory of finding the solution Nonlinear System of Equations, and typical method comprises Gauss's process of iteration etc., but the detailed content list of references: numerical optimization (process plate), work such as Jorge Noccedal, Beijing, Science Press, 2006.

The invention provides a kind of noncooperative target Passive Location based on distributed irradiation source, it comprises following step:

Step 1, initialization system parameter

In order to realize the noncooperative target location, distributed irradiation source Passive Positioning System need provide following system index, comprising: distributed irradiation source Passive Positioning System bearing accuracy, and note is made ρ; Distributed irradiation source Passive Positioning System service band, note is made f _cTransmit the duration, note is made T _PulDistributed irradiation source number, note is made K, and the distributed irradiation source Passive Positioning System pulse repetition time, note is made PRT.

Step 2, determine the locus of distributed irradiation source

Distributed irradiation source Passive Positioning System comprises K independently irradiation source.First irradiation source is laid in optional position on the ground, and note is made Q ₁Any direction is laid second irradiation source apart from first irradiation source 50 km places on the ground, and note is made Q ₂Utilize formula Calculate adjacent irradiation source angle, note is made θ.Lay the 3rd irradiation source on the ground, make the angle of line of the line of the 3rd irradiation source and first irradiation source and second irradiation source and first irradiation source equal adjacent irradiation source angle theta, and the 3rd irradiation source is on the right side of the line of second irradiation source and first irradiation source, and the 3rd irradiation source is 50 kms to the distance of first irradiation source, and note is made Q ₃

In like manner, determine the locus of the 4th irradiation source, the 5th irradiation source the locus ... promptly, lay K irradiation source successively on the ground, make the angle of line of the line of k irradiation source and first irradiation source and k-1 irradiation source and first irradiation source equal adjacent irradiation source angle theta, and k irradiation source be on the right side of the line of k-1 irradiation source and first irradiation source, and k irradiation source be 50 kms to the distance of first irradiation source, and note is made Q _k, wherein, k is the irradiation source sequence number, k is a natural number, and k=1,2 ..., K.

Step 3, determine to transmit

Distributed irradiation source Passive Positioning System bearing accuracy ρ according to step 1 provides utilizes formula B=c/2 ρ, calculates single irradiation source transmitted signal bandwidth, and note is made B, and wherein, c is the light velocity.Utilize formula Δ f=1/T _Pul, calculating emission signal frequency at interval, note is made Δ f.Utilize formula M=round[B/ Δ f], calculate single irradiation source and comprise the frequency number, note is made M, wherein, and round[x] represent the round of variable x is operated.Utilize formula

Calculate first irradiation source and transmit, note is done

Wherein, t express time variable,

The expression duration is T _PulRectangular window function, m is a natural number, m=0,1 ..., (M-1).

In like manner, determine that the 2nd irradiation source transmits, the 3rd irradiation source transmits, the 4th irradiation source transmits ..., that is, make irradiation source sequence number k=1 successively, 2 ..., K utilizes formula

Calculate k irradiation source and transmit, note is done

Step 4, design irradiation source system

The irradiation source system of distributed irradiation source Passive Positioning System is made up of wideband radar emission coefficient, the global positioning system radio station that unifies.

The distributed irradiation source Passive Positioning System service band f that provides according to step 1 _c, determine that K service band is f _cThe wideband radar emission coefficient.

Make irradiation source sequence number k=1 successively, 2 ..., K utilizes k service band to be f _cThe wideband radar emission coefficient, be the cycle with distributed irradiation source Passive Positioning System pulse repetition time PRT, periodically k the irradiation source of determining in the step of transmitting 3 transmits

Utilize the GPS of k irradiation source, determine the position of k irradiation source, and utilize the radio station of k irradiation source that the position of k irradiation source is broadcasted.

Step 5, determine receiving system

The receiving system of distributed irradiation source Passive Positioning System is made up of wideband radar receiving system, the global positioning system radio station receiver of unifying.

Distributed irradiation source number K and the definite single irradiation source transmitted signal bandwidth B of step 3 according to step 1 is determined utilize formula f _s=2KB, the sample frequency of calculating wideband radar receiving system, note is made f _sSample frequency and the definite distributed irradiation source Passive Positioning System service band f of step 1 according to the wideband radar receiving system _c, the quantizing bit number of determining the wideband radar receiving system is that 32, sample frequency are f _s, service band is f _cUtilize the wideband radar receiving system to receive and comprise transmitting and the echo of noncooperative target to K emissive source scattered signal of K irradiation source, obtain distributed irradiation source Passive Positioning System echo data, note is made D _I(n), wherein, n is a wideband radar receiving system sampling pulse sequence number, and n is a natural number, n=0, and 1 ....

Adopt the GPS (GPS) in the receiving system of distributed irradiation source Passive Positioning System, obtain the position of receiving platform, note is made p _R

Make irradiation source sequence number k=1 successively, 2 ..., K adopts the radio station receiver of the receiving system of distributed irradiation source Passive Positioning System, receives the station broadcast of k emissive source, obtains the position of k emissive source, and note is made p _k

Step 6, extraction direct wave signal

Make irradiation source sequence number k=1 successively, 2 ..., K, k irradiation source the transmit g definite according to step 3 _k(t) and the sample frequency f of the wideband radar receiving system determined of step 5 _s, utilize formula Obtain k the discrete sample signals that irradiation source transmitted, note is made g _k(n)

The distributed irradiation source Passive Positioning System echo data D that step 5 is obtained _I(n) with k the discrete sample signals g that irradiation source transmitted _k(n) carry out relevant treatment, obtain k irradiation source echo data after the relevant treatment, note is done

Adopt the traversal method, obtain k irradiation source echo data after the relevant treatment

The wideband radar receiving system sampling pulse sequence number of maximal value correspondence, note is done

Step 7, extract first irradiation source noncooperative target echo

The duration T that transmits that obtains according to step 1 _PulThe sample frequency f of the wideband radar receiving system that obtains with step 5 _s, utilize formula N _Pul=round[f _sT _Pul], calculate the sampling number that transmits, note is made N _Pul

Make irradiation source sequence number k=1 successively ..., K, k the irradiation source echo data that obtains according to step 6

The wideband radar receiving system sampling pulse sequence number of maximal value correspondence

With first irradiation source echo data

In sequence number from

Arrive

Echo data be changed to zero, first irradiation source echo data behind the direct wave that is eliminated, note is done

First irradiation source echo data behind the direct wave is eliminated in calculating

Standard deviation, note is made σ ₁Utilize formula Θ ₁=3.5 * σ ₁, obtaining first irradiation source echo data detection threshold, note is made Θ ₁Adopt the traversal method, first irradiation source echo data behind the direct wave that is eliminated

Maximal value, note is done

With first irradiation source echo data behind the elimination direct wave

The receiving system sampling pulse sequence number of maximal value correspondence, note is done

Relatively eliminate first irradiation source echo data behind the direct wave

Maximal value

With first irradiation source echo data detection threshold Θ ₁If, first irradiation source echo data behind the elimination direct wave

Maximal value

Less than first irradiation source echo data detection threshold Θ ₁, then first irradiation source echo data behind the direct wave is eliminated in order The receiving system sampling pulse sequence number of maximal value correspondence

Equal-1010.

Step 8, extract the noncooperative target echo of all irradiation sources

In like manner, can obtain the echo data behind the elimination direct wave of the 2nd irradiation source, the echo data behind the elimination direct wave of the 3rd irradiation source ..., that is, and with first irradiation source echo data in the step 7

Replace with k irradiation source echo data successively

The operation of repeating step 7, k irradiation source echo data behind the direct wave that is eliminated

The receiving system sampling pulse sequence number of maximal value correspondence

Step 9, calculating noncooperative target position

Make irradiation source sequence number k=1 successively, 2 ..., K, k irradiation source echo data after the relevant treatment that obtains according to step 6

The wideband radar receiving system sampling pulse sequence number of maximal value correspondence

K irradiation source echo data behind the elimination direct wave that step 7 and step 8 obtain

The receiving system sampling pulse sequence number of maximal value correspondence

K=1 ..., K utilizes formula

Calculate noncooperative target and arrive receiver apart from sum to k irradiation source distance and noncooperative target, note is done

Select all noncooperative targets to arrive receiver apart from sum to k irradiation source distance and noncooperative target

Noncooperative target irradiation source sequence number greater than zero obtains effective irradiation source sequence number set, and note is made W.

Select the element of effective irradiation source sequence number set W, utilize formula

$\left\{\begin{array}{c}{\left|\right|p_R-p\left|\right|}_2+{\left|\right|p-p_{w_1}\left|\right|}_2=R_D^{w_1}\\ \&CenterDot;\&CenterDot;\&CenterDot;\\ {\left|\right|p_R-p\left|\right|}_2+{\left|\right|p-p_{w_l}\left|\right|}_2=R_D^{w_l}\\ {\left|\right|p_R-p\left|\right|}_2+{\left|\right|p-p_{w_S}\left|\right|}_2{=R}_D^{w_S}\end{array}\right.,$

Obtain noncooperative target positioning equation group.

Wherein, || g|| ₂Represent vectorial 2 norms, p represents the variable of noncooperative target positioning equation group, comprises three real number unknown quantitys.w ₁Represent first element in effective irradiation source sequence number set, w _lRepresent w in effective irradiation source sequence number set _lIndividual element, w _SRepresent w in effective irradiation source sequence number set _SIndividual element.

Utilize the Nonlinear System of Equations method for solving, find the solution noncooperative target positioning equation group, can obtain the three-dimensional position of noncooperative target, note is made p ^#

Through above step, can obtain the position of noncooperative target in three dimensions.

Need to prove, the locus of the distributed irradiation source that step 2 is determined also can be laid in aerial or the water surface, also can adopt other geometries simultaneously, as long as guarantee that each irradiation source spacing is greater than 30 kms, and all irradiation sources not conllinear get final product, and do not influence validity of the present invention.

In addition, calculate irradiation source echo data detection threshold formula Θ in the step 7 ₁=3.5 * σ ₁In 3.5 also can be changed to other greater than 1 real number, do not influence validity of the present invention.

Innovative point of the present invention is that the multiple point distance measurement location technology in the GPS is applied to passive noncooperative target to be surveyed and positioning field, has realized to the noncooperative target hi-Fix particularly stealthy Three-dimension Target location.

The invention has the advantages that three-dimensional localization precision and system works wave band, receiving array size have nothing to do,, also can obtain noncooperative target degree of precision three-dimensional position, be beneficial to the detection of low RCS target even at lower service band.In addition, utilize method provided by the invention, can from the noncooperative target three dimensional local information, extract the target three-dimensional velocity, compare the situation that traditional radar can only obtain the radial velocity of noncooperative target, be more conducive to Target Recognition.At last, receiving terminal system of the present invention is simple in structure, need not large-scale antenna and obtains higher angular resolution, based on existing radar system, can realize the passive detection function by the reload signal processing module, and system realizes that cost is lower, is convenient to upgrading in enormous quantities.

Description of drawings

The irradiation source layout of Fig. 1 for providing in the embodiment

Wherein, 1 first irradiation source position of expression, second irradiation source position of 2 expressions, the 3rd irradiation source position of 3 expressions, the 4th irradiation source position of 4 expressions, the 5th irradiation source position of 5 expressions, 6 first irradiation sources of expression are 50 kms to the distance of other irradiation sources.

The fundamental diagram of Fig. 2 system of the present invention

Wherein, 7 expression irradiation sources, 8 expression wideband radar receiving systems, 9 expression noncooperative targets, 10 expression irradiation sources are transmitted into the electromagnetic signal of noncooperative target, the electromagnetic signal of 11 expression noncooperative target scatterings, and 12 expression irradiation sources directly arrive the electromagnetic signal of wideband radar receiving system.

Fig. 3 wideband radar emission coefficient of the present invention block diagram

Fig. 4 wideband radar receiving system of the present invention block diagram

Simulation result figure in Fig. 5 embodiment

Wherein, the actual position of 13 expression noncooperative targets, the position of the target that 14 expression the inventive method detect, 5 irradiation sources that are laid in ground of 15 expressions, 16 expression height to, unit is a km, 17 expression x directions, unit is a km, 18 expression y directions, and unit is a km.

Fig. 6 the inventive method process flow diagram

Embodiment

The present invention by Computer Simulation verified the present invention the correctness of definite method, emulation platform is matlab 2008, concrete implementation step is as follows:

Step 1, initialization system parameter

For the noncooperative target Passive Location of the distributed irradiation source of emulation, suppose that main systematic parameter is as follows: distributed irradiation source Passive Positioning System bearing accuracy ρ=30m; Distributed irradiation source Passive Positioning System service band f _c=1GHz; Duration T transmits _Pul=4 μ s; Distributed irradiation source number K=5, the distributed irradiation source Passive Positioning System pulse repetition time, note is made PRT=0.01s.

Step 2, determine the locus of distributed irradiation source

Distributed irradiation source Passive Positioning System comprises 5 independently irradiation sources.First irradiation source is laid in optional position on the ground, and note is made Q ₁Any direction is laid second irradiation source apart from first irradiation source 50 km places on the ground, and note is made Q ₂Utilize formula

Calculate adjacent irradiation source angle theta=90 °.Lay the 3rd irradiation source on the ground, make the angle of line of the line of the 3rd irradiation source and first irradiation source and second irradiation source and first irradiation source equal adjacent irradiation source angle 90 degree, and the 3rd irradiation source is on the right side of the line of second irradiation source and first irradiation source, and the 3rd irradiation source is 50 kms to the distance of first irradiation source, and note is made Q ₃

In like manner, determine the locus of the 4th irradiation source, the locus of the 5th irradiation source, promptly, lay K irradiation source successively on the ground, make the angle of line of the line of k irradiation source and first irradiation source and k-1 irradiation source and first irradiation source equal adjacent irradiation source angle theta, and k irradiation source be on the right side of the line of k-1 irradiation source and first irradiation source, and k irradiation source be 50 kms to the distance of first irradiation source, and note is made Q _k

Step 3, determine to transmit

Distributed irradiation source Passive Positioning System bearing accuracy ρ=30m according to step 1 provides utilizes formula B=c/2 ρ, calculates single irradiation source transmitted signal bandwidth B=5MHz.Utilize formula Δ f=1/T _Pul, calculate emission signal frequency interval delta f=0.25MHz.Utilize formula M=round[B/ Δ f], calculate single irradiation source and comprise frequency number M=20.Utilize formula

Calculate first irradiation source and transmit, note is done

Wherein, t express time variable,

The expression duration is T _PulRectangular window function, m is a natural number, m=0,1 ..., 19.

In like manner, determine that the 2nd irradiation source transmits, the 3rd irradiation source transmits, the 4th irradiation source transmits ..., that is, make irradiation source sequence number k=1 successively ..., 5, utilize formula Calculate k irradiation source and transmit, note is done

Step 4, design irradiation source system

The irradiation source system of distributed irradiation source Passive Positioning System is made up of wideband radar emission coefficient, the global positioning system radio station that unifies.

The distributed irradiation source Passive Positioning System service band f that provides according to step 1 _c=1GHz determines the wideband radar emission coefficient that K service band is 1GHz.

Make irradiation source sequence number k=1 successively, 2 ..., 5, utilizing the wideband radar emission coefficient of k service band for 1GHz, is the cycle with distributed irradiation source Passive Positioning System pulse repetition time PRT=0.01s, and periodically k the irradiation source of determining in the step of transmitting 3 transmits

Utilize the GPS of k irradiation source, determine the position of k irradiation source, and adopt the radio station of k irradiation source that the position of k irradiation source is broadcasted.

Step 5, determine receiving system

The receiving system of distributed irradiation source Passive Positioning System is made up of wideband radar receiving system, the global positioning system radio station receiver of unifying.

Distributed irradiation source number K=5 and the definite single irradiation source transmitted signal bandwidth B=5MHz of step 3 according to step 1 is determined utilize formula f _s=2KB, the sample frequency f of calculating wideband radar receiving system _s=50MHz.According to the distributed irradiation source Passive Positioning System service band that the sample frequency of wideband radar receiving system and step 1 are determined, the quantizing bit number of determining the wideband radar receiving system is that 32, sample frequency are that 50MHz, service band are 1GHz.Utilize the wideband radar receiving system to receive and comprise transmitting and the echo of noncooperative target to 5 emissive source scattered signals of 5 irradiation sources, obtain distributed irradiation source Passive Positioning System echo data, note is made D _I(n), wherein, n is a wideband radar receiving system sampling pulse sequence number, and n is a natural number, n=0, and 1 ....

Adopt the GPS (GPS) in the receiving system of distributed irradiation source Passive Positioning System, obtain the position of receiving platform, note is made p _R

Make irradiation source sequence number k=1 successively, 2 ..., 5, adopt the radio station receiver of the receiving system of distributed irradiation source Passive Positioning System, receive the station broadcast of k emissive source, obtain the position of k emissive source, note is made p _k

Step 6, extraction direct wave signal

Make irradiation source sequence number k=1 successively, 2 ..., 5, k irradiation source the transmit g definite according to step 3 _k(t) and the sample frequency f of the wideband radar receiving system determined of step 5 _s, utilize formula Obtain k the discrete sample signals that irradiation source transmitted, note is made g _k(n)

The distributed irradiation source Passive Positioning System echo data D that step 5 is obtained _I(n) with k the discrete sample signals g that irradiation source transmitted _k(n) carry out relevant treatment, obtain k irradiation source echo data after the relevant treatment, note is done

Adopt the traversal method, obtain k irradiation source echo data after the relevant treatment The wideband radar receiving system sampling pulse sequence number of maximal value correspondence, note is done

Step 7, extract first irradiation source noncooperative target echo

The duration T that transmits that obtains according to step 1 _PulThe sample frequency of the wideband radar receiving system that obtains with step 5 is utilized formula N _Pul=round[f _sT _Pul], calculate the sampling number N that transmits _Pul=200.

K the irradiation source echo data that obtains according to step 6 The wideband radar receiving system sampling pulse sequence number of maximal value correspondence

With first irradiation source echo data

In sequence number from Arrive

Echo data be changed to zero, k=1 ..., 5, first irradiation source echo data behind the direct wave that is eliminated, note is done

First irradiation source echo data behind the direct wave is eliminated in calculating Standard deviation sigma ₁=3.6 * 10 ^-6Utilize formula Θ ₁=3.5 * σ ₁, obtain first irradiation source echo data detection threshold Θ ₁=1.26 * 10 ^-5Adopt the traversal method, first irradiation source echo data behind the direct wave that is eliminated

Maximal value With first irradiation source echo data behind the elimination direct wave The receiving system sampling pulse sequence number of maximal value correspondence

Relatively eliminate first irradiation source echo data behind the direct wave Maximal value

With first irradiation source echo data detection threshold Θ ₁, have

Step 8, extract the noncooperative target echo of all irradiation sources

With first irradiation source echo data in the step 7

Replace with k irradiation source echo data successively

The operation of repeating step 7, k irradiation source echo data behind the direct wave that is eliminated

The receiving system sampling pulse sequence number of maximal value correspondence

Step 9, calculating noncooperative target position

Make irradiation source sequence number k=1 successively, 2 ..., 5, k irradiation source echo data after the relevant treatment that obtains according to step 6

The wideband radar receiving system sampling pulse sequence number of maximal value correspondence

K irradiation source echo data behind the elimination direct wave that step 7 and step 8 obtain

The receiving system sampling pulse sequence number of maximal value correspondence

, k=1 ..., 5, utilize formula

Calculate noncooperative target and arrive receiver apart from sum to k irradiation source distance and noncooperative target, note is done

Select all noncooperative targets to arrive receiver apart from sum to k irradiation source distance and noncooperative target Noncooperative target irradiation source sequence number greater than zero obtains effective irradiation source sequence number set, and note is made W.

Select the element of effective irradiation source sequence number set W, utilize formula

$\left\{\begin{array}{c}{\left|\right|p_R-p\left|\right|}_2+{\left|\right|p-p_{w_1}\left|\right|}_2=R_D^{w_1}\\ \&CenterDot;\&CenterDot;\&CenterDot;\\ {\left|\right|p_R-p\left|\right|}_2+{\left|\right|p-p_{w_l}\left|\right|}_2=R_D^{w_l}\\ {\left|\right|p_R-p\left|\right|}_2+{\left|\right|p-p_{w_S}\left|\right|}_2{=R}_D^{w_S}\end{array}\right.,$

Obtain noncooperative target positioning equation group.

Utilize the Newton iteration method method to find the solution noncooperative target positioning equation group, can obtain the three-dimensional position p of noncooperative target ^#=[100,5,10] km.

From embodiment as can be known, adopt the inventive method can accurately obtain the three-dimensional position of noncooperative target.Compare with traditional Passive Location of document http://www.lockheedmartin.com/products/silent-sentry/index.html representative, the noncooperative target three dimensional local information that the inventive method obtains is more accurate.In addition, utilize method provided by the invention, can from the noncooperative target three dimensional local information, extract the target three-dimensional velocity, compare the situation that traditional radar can only obtain the radial velocity of noncooperative target, be more conducive to Target Recognition.At last, receiving terminal system of the present invention is simple in structure, based on existing radar system, can realize the passive detection function by the reload signal processing module, and system realizes that cost is lower, is convenient to upgrading in enormous quantities.

Claims (1)

1. noncooperative target Passive Location based on distributed irradiation source comprises following step:

Step 1, initialization system parameter

In order to realize the noncooperative target location, distributed irradiation source Passive Positioning System need provide following system index, comprising: distributed irradiation source Passive Positioning System bearing accuracy, and note is made ρ; Distributed irradiation source Passive Positioning System service band, note is made f _cTransmit the duration, note is made T _PulDistributed irradiation source number, note is made K, and the distributed irradiation source Passive Positioning System pulse repetition time, note is made PRT.

Step 2, determine the locus of distributed irradiation source

Distributed irradiation source Passive Positioning System comprises K independently irradiation source.First irradiation source is laid in optional position on the ground, and note is made Q ₁Any direction is laid second irradiation source apart from first irradiation source 50 km places on the ground, and note is made Q ₂Utilize formula

Calculate adjacent irradiation source angle, note is made θ.Lay the 3rd irradiation source on the ground, make the angle of line of the line of the 3rd irradiation source and first irradiation source and second irradiation source and first irradiation source equal adjacent irradiation source angle theta, and the 3rd irradiation source is on the right side of the line of second irradiation source and first irradiation source, and the 3rd irradiation source is 50 kms to the distance of first irradiation source, and note is made Q ₃

In like manner, determine the locus of the 4th irradiation source, the 5th irradiation source the locus ... promptly, lay K irradiation source successively on the ground, make the angle of line of the line of k irradiation source and first irradiation source and k-1 irradiation source and first irradiation source equal adjacent irradiation source angle theta, and k irradiation source be on the right side of the line of k-1 irradiation source and first irradiation source, and k irradiation source be 50 kms to the distance of first irradiation source, and note is made Q _k, wherein, k is the irradiation source sequence number, k is a natural number, and k=1,2 ..., K.

Step 3, determine to transmit

Distributed irradiation source Passive Positioning System bearing accuracy ρ according to step 1 provides utilizes formula B=c/2 ρ, calculates single irradiation source transmitted signal bandwidth, and note is made B, and wherein, c is the light velocity.Utilize formula Δ f=1/T _Pul, calculating emission signal frequency at interval, note is made Δ f.Utilize formula M=round[B/ Δ f], calculate single irradiation source and comprise the frequency number, note is made M, wherein, and round[x] represent the round of variable x is operated.Utilize formula

Calculate first irradiation source and transmit, note is done

Wherein, t express time variable,

The expression duration is T _PulRectangular window function, m is a natural number, m=0,1 ..., (M-1).

In like manner, determine that the 2nd irradiation source transmits, the 3rd irradiation source transmits, the 4th irradiation source transmits ..., that is, make irradiation source sequence number k=1 successively, 2 ..., K utilizes formula

Calculate k irradiation source and transmit, note is done

Step 4, design irradiation source system

The irradiation source system of distributed irradiation source Passive Positioning System is made up of wideband radar emission coefficient, the global positioning system radio station that unifies.

The distributed irradiation source Passive Positioning System service band f that provides according to step 1 _c, determine that K service band is f _cThe wideband radar emission coefficient.

Make irradiation source sequence number k=1 successively, 2 ..., K utilizes k service band to be f _cThe wideband radar emission coefficient, be the cycle with distributed irradiation source Passive Positioning System pulse repetition time PRT, periodically k the irradiation source of determining in the step of transmitting 3 transmits

Utilize the GPS of k irradiation source, determine the position of k irradiation source, and utilize the radio station of k irradiation source that the position of k irradiation source is broadcasted.

Step 5, determine receiving system

The receiving system of distributed irradiation source Passive Positioning System is made up of wideband radar receiving system, the global positioning system radio station receiver of unifying.

Distributed irradiation source number K and the definite single irradiation source transmitted signal bandwidth B of step 3 according to step 1 is determined utilize formula f _s=2KB, the sample frequency of calculating wideband radar receiving system, note is made f _sSample frequency and the definite distributed irradiation source Passive Positioning System service band f of step 1 according to the wideband radar receiving system _c, the quantizing bit number of determining the wideband radar receiving system is that 32, sample frequency are f _s, service band is f _cUtilize the wideband radar receiving system to receive and comprise transmitting and the echo of noncooperative target to K emissive source scattered signal of K irradiation source, obtain distributed irradiation source Passive Positioning System echo data, note is made D _I(n), wherein, n is a wideband radar receiving system sampling pulse sequence number, and n is a natural number, n=0, and 1 ....

Adopt the GPS (GPS) in the receiving system of distributed irradiation source Passive Positioning System, obtain the position of receiving platform, note is made p _R

Make irradiation source sequence number k=1 successively, 2 ..., K adopts the radio station receiver of the receiving system of distributed irradiation source Passive Positioning System, receives the station broadcast of k emissive source, obtains the position of k emissive source, and note is made p _k

Step 6, extraction direct wave signal

Make irradiation source sequence number k=1 successively, 2 ..., K, k irradiation source the transmit g definite according to step 3 _k(t) and the sample frequency f of the wideband radar receiving system determined of step 5 _s, utilize formula

Obtain k the discrete sample signals that irradiation source transmitted, note is made g _k(n)

The distributed irradiation source Passive Positioning System echo data D that step 5 is obtained _I(n) with k the discrete sample signals g that irradiation source transmitted _k(n) carry out relevant treatment, obtain k irradiation source echo data after the relevant treatment, note is done

Adopt the traversal method, obtain k irradiation source echo data after the relevant treatment

The wideband radar receiving system sampling pulse sequence number of maximal value correspondence, note is done

Step 7, extract first irradiation source noncooperative target echo

The duration T that transmits that obtains according to step 1 _PulThe sample frequency f of the wideband radar receiving system that obtains with step 5 _s, utilize formula N _Pul=round[f _sT _Pul], calculate the sampling number that transmits, note is made N _Pul

Make irradiation source sequence number k=1 successively ..., K, k the irradiation source echo data that obtains according to step 6

The wideband radar receiving system sampling pulse sequence number of maximal value correspondence

With first irradiation source echo data In sequence number from Echo data be changed to zero, first irradiation source echo data behind the direct wave that is eliminated, note is done

First irradiation source echo data behind the direct wave is eliminated in calculating

Standard deviation, note is made σ ₁Utilize formula Θ ₁=3.5 * σ ₁, obtaining first irradiation source echo data detection threshold, note is made Θ ₁Adopt the traversal method, first irradiation source echo data behind the direct wave that is eliminated

Maximal value, note is done

With first irradiation source echo data behind the elimination direct wave

The receiving system sampling pulse sequence number of maximal value correspondence, note is done

Relatively eliminate first irradiation source echo data behind the direct wave

Maximal value

With first irradiation source echo data detection threshold Θ ₁If, first irradiation source echo data behind the elimination direct wave

Maximal value Less than first irradiation source echo data detection threshold Θ ₁, then first irradiation source echo data behind the direct wave is eliminated in order

The receiving system sampling pulse sequence number of maximal value correspondence

Equal-10 ¹⁰

Step 8, extract the noncooperative target echo of all irradiation sources

In like manner, can obtain the echo data behind the elimination direct wave of the 2nd irradiation source, the echo data behind the elimination direct wave of the 3rd irradiation source ..., that is, and with first irradiation source echo data in the step 7

Replace with k irradiation source echo data successively

The operation of repeating step 7, k irradiation source echo data behind the direct wave that is eliminated

The receiving system sampling pulse sequence number of maximal value correspondence

Step 9, calculating noncooperative target position

Make irradiation source sequence number k=1 successively, 2 ..., K, k irradiation source echo data after the relevant treatment that obtains according to step 6 The wideband radar receiving system sampling pulse sequence number of maximal value correspondence

K irradiation source echo data behind the elimination direct wave that step 7 and step 8 obtain

The receiving system sampling pulse sequence number of maximal value correspondence

K=1 ..., K utilizes formula

Calculate noncooperative target and arrive receiver apart from sum to k irradiation source distance and noncooperative target, note is done

Select all noncooperative targets to arrive receiver apart from sum to k irradiation source distance and noncooperative target

Noncooperative target irradiation source sequence number greater than zero obtains effective irradiation source sequence number set, and note is made W.

Select the element of effective irradiation source sequence number set W, utilize formula

$\left\{\begin{array}{c}{\left|\right|p_R-p\left|\right|}_2+{\left|\right|p-p_{w_1}\left|\right|}_2=R_D^{w_1}\\ \&CenterDot;\&CenterDot;\&CenterDot;\\ {\left|\right|p_R-p\left|\right|}_2+{\left|\right|p-p_{w_l}\left|\right|}_2=R_D^{w_l}\\ {\left|\right|p_R-p\left|\right|}_2+{\left|\right|p-p_{w_S}\left|\right|}_2{=R}_D^{w_S}\end{array}\right.,$

Obtain noncooperative target positioning equation group.

Wherein, || g|| ₂Represent vectorial 2 norms, p represents the variable of noncooperative target positioning equation group, comprises three real number unknown quantitys.w ₁Represent first element in effective irradiation source sequence number set, w _lRepresent w in effective irradiation source sequence number set _lIndividual element, w _SRepresent w in effective irradiation source sequence number set _SIndividual element.

Utilize the Nonlinear System of Equations method for solving, find the solution noncooperative target positioning equation group, can obtain the three-dimensional position of noncooperative target, note is made p ^#

Through above step, can obtain the position of noncooperative target in three dimensions.

Need to prove, the locus of the distributed irradiation source that step 2 is determined also can be laid in aerial or the water surface, also can adopt other geometries simultaneously, as long as guarantee that each irradiation source spacing is greater than 30 kms, and all irradiation sources not conllinear get final product, and do not influence validity of the present invention.

In addition, calculate irradiation source echo data detection threshold formula Θ in the step 7 ₁=3.5 * σ ₁In 3.5 also can be changed to other greater than 1 real number, do not influence validity of the present invention.

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