CN103744052A - Dual-satellite time difference measurement direction-finding method and apparatus for aerial target positioning - Google Patents

Abstract

The invention discloses a dual-satellite time difference measurement direction-finding method and apparatus for aerial target positioning. The direction-finding method comprises the following steps that: a primary satellite carries out radio direction finding on a target so as to obtain direction-finding vector information; time for arriving at the primary satellite and an auxiliary satellite by radio singles are respectively measured and the arrival time is compared so as to obtain time difference measurement information; and according to the direction-finding vector information and the time different measurement information, position information of the target is resolved. According to the dual-satellite time difference measurement direction-finding system, both the aerial target positioning and positioning of a ground target and a space target can be realized; and thus the provided method and the apparatus have high application values in the radio positioning field.

Description

A kind of double star that is applied to aerial target location is surveyed time-of-arrival direction finding method and device

Technical field

The present invention relates to radiolocation technical field, relate in particular to a kind of double star that is applied to aerial target location and survey time-of-arrival direction finding method and device.

Background technology

Modern war is IT-based warfare, and who is perception war posture preferentially, and who has just grasped the initiative of war.Radio intelligence technology is as one of means of war posture perception, it plays an important role in modern war, particularly space-based radio intelligence system has that wide coverage, intercept probability are high, flexible arrangement, information reaction velocity are fast, cost effectiveness advantages of higher, has become the focus of the competition of each military power.

Utilize space-based radio intelligence system, not only can obtain radio characteristic information and the information of target, and can position to target, find out goal activities rule.By merging RI radio intelligence and the positional information of target, can provide more valuable military information.Rely on targeted radio radiation feature, target is carried out to the important technology that accurate location is radio intelligence system and one of require.

For space-based radio positioning system, according to positioning means, the compound positioning means that can be divided into time difference location, frequency difference location, frequency measurement location, survey phase differential location, direction finding location and mutually combine.According to system number of satellites, can be divided into single star positioning system, Double Satellite Positioning System, three star problem system and four stars positioning system, it is many that first three plants positioning system research at present, mainly for terrain object, position, and last a kind of positioning system can position aerial target, but because system is huge, research is very few at present.

At present, the positioning system research of aerial target is relatively short of, even if more existing documents have been studied the orientation problem of aerial target targetedly, but still has some limitations.

Summary of the invention

In view of above-mentioned analysis, the present invention aims to provide a kind of double star that is applied to aerial target location and surveys time-of-arrival direction finding method and device, in order to solve in prior art the perfect not problem of the positioning system of aerial target.

Object of the present invention is mainly achieved through the following technical solutions:

The invention provides a kind of double star that is applied to aerial target location and survey time-of-arrival direction finding method, comprising:

Steps A: primary carries out radio direction finding (RDF) to target, obtains direction finding Vector Message;

Step B: measure respectively the time of radio signal arrival primary and auxiliary star, will compare time of arrival, obtain time difference measurement information;

Step C: according to described direction finding Vector Message and described time difference measurement information, calculate the positional information of described target.

Further, described steps A comprises:

Primary carries out radio direction finding (RDF) to target, obtains the unit vector u of primary to target _1pat antenna coordinate, be S _ain component arrays

α _a,

be respectively vector u _1pposition angle in antenna measurement coordinate system, the angle of pitch.

Further, described step C comprises:

According to the real-time track of main and auxiliary star, attitude parameter and other known parameters, obtain primary S ₁position vector r ₁at equator, the earth's core inertial coordinates system S _iin component arrays (r ₁) _i, auxiliary star S ₂position vector r ₂at S _iin component arrays (r ₂) _iand transition matrix C _ei, C _bo', C _{o ' i}, C _ba, wherein, C _eirepresent S _ito equator, the earth's core rotating coordinate system S _etransition matrix, C _bo'represent the second orbital coordinate system S _o' to primary body coordinate system S _btransition matrix, C _{o ' i}represent S _ito S _o' transition matrix, C _barepresent antenna measurement coordinate system S _ato S _btransition matrix;

According to (the r of above-mentioned acquisition ₁) _i, (r ₂) _iand C _ei, C _bo', C _{o ' i}, C _ba, and the primary that obtains by direction finding of primary is to the unit vector u of target _1pat S _ain component arrays (u _1p) _a, calculate and obtain unit vector u _1pat S _ein component arrays (u _1p) _eand vector r ₁at S _ein component arrays (r ₁) _e, vector r ₂at S _ein component arrays (r ₂) _e;

According to primary S ₁range-to-go r _1pand above-mentioned (r ₁) _e, (u _1p) _e, calculate and obtain target at S _ein positioning result (r _p) _e, i.e. (r _p) _e=r _1p(u _1p) _e+ (r ₁) _e, r _prepresent the position vector of target.

Further, make primary S ₁range-to-go r _1p=|| r _p-r ₁||, derive and draw

r ₁=|| r ₁, r ₂=|| r ₂||; C represents the light velocity, Δ t ₂₁represent that signal arrives primary S ₁relatively arrive auxiliary star S ₂time difference measurement information;

(r ₁) _e=C _ei(r ₁) _i

(r ₂) _e=C _ei(r ₂) _i。

(u _1p) _e=C _ei(C _bo'C _o′i) ^TC _ba(u _1p) _a

Further, above-mentioned C _{o ' i}solve by the following method:

Make S _o' coordinate axis X _o', Y _o', Z _o' unit vector be respectively i ' _o, j ' _o, k ' _o, according to S _o' definition, there is following relational expression:

$k_o^{\&prime;}=-\frac{{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1}{\left|\right|{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}$

$j_o^{\&prime;}=\frac{v_1\&times;{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1}{\left|\right|v_1\&times;{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}$

i′ _o=j′ _o×k′ _o

Above-mentioned unit vector i ' _o, j ' _o, k ' _oat S _iin component array can be expressed as:

${\left(k_o^{\&prime;}\right)}_i=-\frac{{\left(r_1\right)}_i}{\left|\right|{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}$

${\left(j_o^{\&prime;}\right)}_i=-\frac{{\left(v_1\right)}_i\&times;{\left(r_1\right)}_i}{\left|\right|v_1\left|\right|\left|\right|{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}$

(i′ _o) _i=(j′ _o) _i×(k′ _o) _i

Obtain by inertial coordinates system S _itransform to the second orbital coordinate system S _o' transition matrix C _{o ' i}for:

$C_{o^{\&prime;}i}=\left[\begin{array}{c}{\left(i_o^{\&prime;}\right)}_i^T\\ {\left(j_o^{\&prime;}\right)}_i^T\\ {\left(k_o^{\&prime;}\right)}_i^T\end{array}\right].$

The present invention also provides a kind of double star that is applied to aerial target location to survey time-of-arrival direction finding device, comprising:

Direction finding module, carries out radio direction finding (RDF) for controlling primary to target, obtains direction finding Vector Message;

Time difference measurement module, for measuring respectively the time of radio signal arrival primary and auxiliary star, will compare time of arrival, obtains time difference measurement information;

Resolve module, for according to described direction finding Vector Message and described time difference measurement information, calculate the positional information of described target.

Further, described direction finding module specifically for, control primary target carried out to radio direction finding (RDF), obtain primary to the unit vector u of target _1pat antenna coordinate, be S _ain component arrays

α _a,

be respectively vector u _1pposition angle in antenna measurement coordinate system, the angle of pitch.

Further, described in resolve module specifically for, according to the real-time track of main and auxiliary star, attitude parameter and other known parameters, obtain primary S ₁position vector r ₁at equator, the earth's core inertial coordinates system S _iin component arrays (r ₁) _i, auxiliary star S ₂position vector r ₂at S _iin component arrays (r ₂) _iand transition matrix C _ei, C _bo', C _{o ' i}, C _ba, wherein, C _eirepresent S _ito equator, the earth's core rotating coordinate system S _etransition matrix, C _bo'represent the second orbital coordinate system S _o' to primary body coordinate system S _btransition matrix, C _{o ' i}represent S _ito S _o' transition matrix, C _barepresent antenna measurement coordinate system S _ato S _btransition matrix;

According to (the r of above-mentioned acquisition ₁) _i, (r ₂) _iand C _ei, C _bo', C _{o ' i}, C _ba, and the primary that obtains by direction finding of primary is to the unit vector u of target _1pat S _ain component arrays (u _1p) _a, calculate and obtain unit vector u _1pat S _ein component arrays (u _1p) _eand vector r ₁at S _ein component arrays (r ₁) _e, vector r ₂at S _ein component arrays (r ₂) _e;

According to primary S ₁range-to-go r _1pand above-mentioned (r ₁) _e, (u _1p) _e, calculate and obtain target at S _ein positioning result (r _p) _e, i.e. (r _p) _e=r _1p(u _1p) _e+ (r ₁) _e, r _prepresent the position vector of target.

Further, make primary S ₁range-to-go r _1p=|| r _p-r ₁||,

r ₁=|| r ₁||, r ₂=|| r ₂||; C represents the light velocity, Δ t ₂₁represent that signal arrives primary S ₁relatively arrive auxiliary star S ₂time difference measurement information;

(r ₁) _e=C _ei(r ₁) _i

(r ₂) _e=C _ei(r ₂) _i。

(u _1p) _e=C _ei(C _bo'C _o′i) ^TC _ba(u _1p) _a

Further, above-mentioned C _{o ' i}solve by the following method:

Make S _o' coordinate axis X _o', Y _o', Z _o' unit vector be respectively i ' _o, j ' _o, k ' _o, according to S _o' definition, there is following relational expression:

$k_o^{\&prime;}=-\frac{{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1}{\left|\right|{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}$

$j_o^{\&prime;}=\frac{v_1\&times;{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1}{\left|\right|v_1\&times;{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}$

i′ _o=j′ _o×k′ _o

Above-mentioned unit vector i ' _o, j ' _o, k ' _oat S _iin component array can be expressed as:

${\left(k_o^{\&prime;}\right)}_i=-\frac{{\left(r_1\right)}_i}{\left|\right|{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}$

${\left(j_o^{\&prime;}\right)}_i=-\frac{{\left(v_1\right)}_i\&times;{\left(r_1\right)}_i}{\left|\right|v_1\left|\right|\left|\right|{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}$

(i′ _o) _i=(j′ _o) _i×(k′ _o) _i

Obtain by inertial coordinates system S _itransform to the second orbital coordinate system S _o' transition matrix C _{o ' i}for:

$C_{o^{\&prime;}i}=\left[\begin{array}{c}{\left(i_o^{\&prime;}\right)}_i^T\\ {\left(j_o^{\&prime;}\right)}_i^T\\ {\left(k_o^{\&prime;}\right)}_i^T\end{array}\right].$

Beneficial effect of the present invention is as follows:

The double star that the present invention proposes is surveyed time-of-arrival direction finding system, not only can position aerial target, and can be on a surface target, extraterrestrial target positions, and in radiolocation field, has higher using value.

Other features and advantages of the present invention will be set forth in the following description, and, part from instructions, become apparent, or by implement the present invention understand.Object of the present invention and other advantages can be realized and be obtained by specifically noted structure in write instructions, claims and accompanying drawing.

Accompanying drawing explanation

Fig. 1 is the schematic flow sheet of method described in the embodiment of the present invention;

Fig. 2 is the principle schematic of Double-Star Positioning System;

Fig. 3 is primary, auxiliary star and the aerial target position relationship schematic diagram under the inertial coordinates system of equator, the earth's core;

Fig. 4 is the position angle in antenna measurement coordinate system, the schematic diagram of the angle of pitch;

Fig. 5 is coordinate system S _σwith S _abe related to schematic diagram;

Fig. 6 is u _1pat coordinate system S _σin be related to schematic diagram;

Fig. 7 is that single star direction detecting positioning system is followed the tracks of schematic diagram to the location of moving-target;

Fig. 8 is that double star is surveyed the location tracking schematic diagram of time-of-arrival direction finding positioning system to moving-target;

Fig. 9 is the horizontal direction positioning precision distribution schematic diagram of target location;

Figure 10 is the vertical direction positioning precision distribution schematic diagram of target location;

Figure 11 is the relativeness schematic diagram of target radius vector match value and true value;

Figure 12 is the structural representation installing described in the embodiment of the present invention.

Embodiment

Below in conjunction with accompanying drawing, specifically describe the preferred embodiments of the present invention, wherein, accompanying drawing forms the application's part, and together with embodiments of the present invention for explaining principle of the present invention.

As shown in Figure 1, the main schematic flow sheet that Fig. 1 is the method for the invention, specifically can comprise:

Step 101: primary carries out radio direction finding (RDF) to aerial target, obtains direction finding Vector Message;

Step 102: measure respectively the time of radio signal arrival primary and auxiliary star, compared two time of arrival, obtain time difference measurement information;

Step 103: according to described direction finding Vector Message and described time difference measurement information, calculate the positional information of described aerial target.

Below in conjunction with accompanying drawing 2 to 11, specifically describe the preferred embodiments of the present invention, wherein, accompanying drawing forms the application's part, and together with embodiments of the present invention for explaining principle of the present invention.

As shown in Figure 2, the principle schematic that Fig. 2 is Double-Star Positioning System.Primary is taked hyperchannel to detect debit's formula target is carried out to direction finding, obtains direction finding Vector Message; Auxiliary star takes single channel to detect debit's formula measuring-signal time of arrival, and compared with the time of arrival (toa) of measuring with primary, obtains time difference measurement information.By merging direction finding message and time difference information, just can calculate the positional information of aerial target.

As shown in Figure 3, Fig. 3 has described primary (S ₁), auxiliary star (S ₂) and aerial target (P) (abbreviation S under the inertial coordinates system of equator, the earth's core _i) position relationship, the specific definition of coordinate system please refer to document (Xiao Yelun. spacecraft flight principle of dynamics [M]. Yuhang Publishing House, 1993.3, Beijing .).

Make position vector and the velocity of aerial target in inertial system Si be respectively r _p, v _p, primary S ₁at inertial coordinates system S _iin position vector and velocity be respectively r ₁, v ₁, auxiliary star S ₂at inertial coordinates system S _iin position vector and velocity be respectively r ₂, v ₂.Can obtain respectively double star moveout equation and primary direction finding equation is as follows:

$\mathrm{\&Delta;}{t}_{21}=\frac{\left|\right|r_1-r_p\left|\right|}{c}-\frac{\left|\right|r_2-r_p\left|\right|}{c}---\left(1\right)$

${\mathrm{<figure-callout\; id="1p"\; label="u"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">u</figure-callout>}}_{1p}=\frac{r_p-{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1}{\left|\right|r_p-{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}$

Wherein, Δ t ₂₁that signal arrives primary S ₁relatively arrive auxiliary star S ₂time difference measurement information, c is the light velocity, u _1pfor primary S ₁the satellite obtaining by direction finding is to the unit vector of target, and it is at antenna measurement coordinate system S _a(be called for short S _a) in can be expressed as:

In formula, α _a, be respectively vector u _1pat antenna measurement coordinate system S _ain position angle, the angle of pitch, as shown in Figure 4.

In Fig. 4, α _afor unit vector is at plane O _ax _ay _aon projection and axle X _aangle, meet right hand method and just rotate to be,

for unit vector and plane O _ax _ay _aangle, point to positive Z _aaxle is for just.

Investigate system of equations (1), make primary S ₁range-to-go r _1p=|| r _p-r ₁||, the second fraction can turn to:

$r_p-{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1={\mathrm{<figure-callout\; id="1p"\; label="r"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">r</figure-callout>}}_{1\mathrm{<figure-callout\; id="1p"\; label="p\; u"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">p</figure-callout>}}{u}_{}{}_{1p}\&DoubleLeftRightArrow;r_p={\mathrm{<figure-callout\; id="1p"\; label="r"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">r</figure-callout>}}_{1\mathrm{<figure-callout\; id="1p"\; label="p\; u"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">p</figure-callout>}}{u}_{}{}_{1p}+r_1---\left(3\right)$

By the first fraction of above formula substitution system of equations (1), have:

$\begin{array}{c}\mathrm{c\&Delta;}{t}_{21}=\left|\right|r_1-r_p\left|\right|-\left|\right|r_2-r_p\left|\right|\\ =\left|\right|-{\mathrm{<figure-callout\; id="1p"\; label="r"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">r</figure-callout>}}_{1\mathrm{<figure-callout\; id="1p"\; label="p\; u"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">p</figure-callout>}}{u}_{}{}_{1p}\left|\right|-\left|\right|r_2-({\mathrm{<figure-callout\; id="1p"\; label="r"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">r</figure-callout>}}_{1\mathrm{<figure-callout\; id="1p"\; label="p\; u"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">p</figure-callout>}}{u}_{}{}_{1p}+r_1)\left|\right|\\ \&DoubleRightArrow;{\mathrm{<figure-callout\; id="1p"\; label="r"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">r</figure-callout>}}_{1p}-\mathrm{c\&Delta;}{t}_{21}=\left|\right|r_2-r_1-{\mathrm{<figure-callout\; id="1p"\; label="r"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">r</figure-callout>}}_{1\mathrm{<figure-callout\; id="1p"\; label="p\; u"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">p</figure-callout>}}{u}_{}{}_{1p}\left|\right|\end{array}---\left(4\right)$

Above formula both sides square are obtained respectively:

$\begin{array}{c}{({\mathrm{<figure-callout\; id="1p"\; label="r"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">r</figure-callout>}}_{1p}-\mathrm{c\&Delta;}{t}_{21})}^2={\left|\right|{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_2\left|\right|}^2+{\left|\right|{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}^2+{{\mathrm{<figure-callout\; id="1p"\; label="r"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">r</figure-callout>}}_{1p}}^2-2{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_2\&CenterDot;r_1-2{\mathrm{<figure-callout\; id="1p"\; label="r"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">r</figure-callout>}}_{1\mathrm{<figure-callout\; id="2"\; label="p\; r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">p</figure-callout>}}{r}_{}{}_2\&CenterDot;{\mathrm{<figure-callout\; id="1p"\; label="u"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">u</figure-callout>}}_{1p}+2{\mathrm{<figure-callout\; id="1p"\; label="r"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">r</figure-callout>}}_{1\mathrm{<figure-callout\; id="1"\; label="p\; r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">p</figure-callout>}}{r}_{}{}_1\&CenterDot;{\mathrm{<figure-callout\; id="1p"\; label="u"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">u</figure-callout>}}_{1p}\\ \&DoubleRightArrow;{\mathrm{<figure-callout\; id="1p"\; label="r"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">r</figure-callout>}}_{1p}=\frac{{{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_2}^2+{{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1}^2-2{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_2\&CenterDot;r_1-{\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">c</figure-callout>}}^2\mathrm{\&Delta;}{t_{21}}^2}{2({\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="1p"\; label="u"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">u</figure-callout>}}_{1p}-{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\&CenterDot;{\mathrm{<figure-callout\; id="1p"\; label="u"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">u</figure-callout>}}_{1p}-\mathrm{c\&Delta;}{t}_{21})}\end{array}---\left(5\right)$

Wherein, r ₂=|| r ₂||, r ₁=|| r ₁||.

The component array of vector in above-mentioned formula in different coordinates has following relation:

(r ₁) _e=C _ei(r ₁) _i

(r ₂) _e=C _ei(r ₂) _i(6)

(u _1p) _e=C _ei(C _bo'C _o′i) ^TC _ba(u _1p) _a

In formula, (r ₁) _erepresent primary S ₁position vector r ₁at S _ein component arrays, (r ₂) _erepresent auxiliary star S ₂position vector r ₂at S _ein component arrays, (r ₁) _irepresent primary S ₁position vector r ₁at equator, the earth's core inertial coordinates system S _iin component arrays, (r ₂) _irepresent auxiliary star S ₂position vector r ₂at S _iin component arrays; Matrix C _bo', C _{o ' i}, C _baall about primary S ₁transition matrix; Wherein, C _eidenotation coordination is S _ito S _etransition matrix, C _bo'represent the second orbital coordinate system S _o' (be called for short S _o') to primary body coordinate system S _b(be called for short S _b) transition matrix (being attitude matrix), C _{o ' i}represent inertial coordinates system S _ito the second orbital coordinate system S _o' transition matrix, C _barepresent antenna measurement coordinate system S _ato primary body coordinate system S _btransition matrix.Definite double star is surveyed in time-of-arrival direction finding method, in the time of at a time, and (r ₁) _i, (r ₂) _i, (u _1p) _a, C _bo', C _babe all known quantity, C _{o ' i}can solve by the following method.

Make the second orbital coordinate system S _o' coordinate axis X _o', Y _o', Z _o' unit vector be respectively i ' _o, j ' _o, k ' _o, according to the second orbital coordinate system S _o' definition, there is following relational expression:

$k_o^{\&prime;}=-\frac{{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1}{\left|\right|{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}$

$j_o^{\&prime;}=\frac{{\mathrm{<figure-callout\; id="1"\; label="v"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">v</figure-callout>}}_1\&times;{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1}{\left|\right|{\mathrm{<figure-callout\; id="1"\; label="v"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">v</figure-callout>}}_1\&times;{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}---\left(7\right)$

i′ _o=j′ _o×k′ _o

Above-mentioned unit vector is at inertial coordinates system S _iin component array can be expressed as:

${\left(k_o^{\&prime;}\right)}_i=-\frac{{\left(r_1\right)}_i}{\left|\right|{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}$

${\left(j_o^{\&prime;}\right)}_i=-\frac{{\left(v_1\right)}_i\&times;{\left(r_1\right)}_i}{\left|\right|{\mathrm{<figure-callout\; id="1"\; label="v"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">v</figure-callout>}}_1\left|\right|\left|\right|{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}---\left(8\right)$

(i′ _o) _i=(j _′o) _i×(k′o) _i

Wherein, (r ₁) _i, (v ₁) _ifor known quantity.Can obtain by inertial coordinates system S _itransform to the second orbital coordinate system S _o' transition matrix C _{o ' i}for:

$C_{o^{\&prime;}i}=\left[\begin{array}{c}{\left(i_o^{\&prime;}\right)}_i^T\\ {\left(j_o^{\&prime;}\right)}_i^T\\ {\left(k_o^{\&prime;}\right)}_i^T\end{array}\right]---\left(9\right)$

The various formula (5) that is updated to of being correlated with above, just can calculate r _1p, can obtain r _pat S _ein component array can be expressed as:

(r _p) _e=r _1p(u _1p) _e+(r ₁) _e (10)

(r in above formula _p) _ebe r _pat S _ein component array, be also that aerial target is at coordinate system S _ein positioning result.

Known by above-mentioned derivation, the calculation process of location algorithm is as follows:

1), according to the real-time track of main and auxiliary star, attitude parameter and other known parameters, obtain (r ₁) _i, (r ₂) _iand transition matrix C _ei, C _bo', C _{o ' i}, C _ba;

2) according to the direction finding result (u of primary _1p) _a, calculate and obtain (u _1p) _e, calculate (r simultaneously ₁) _e, (r ₂) _e;

3), according to formula (5), calculate and obtain r _1p;

4), according to formula (10), calculate and obtain aerial target at coordinate system S _ein expression (r _p) _e.

From double star, surveying positioning principle and the location algorithm derivation of time-of-arrival direction finding system can find out: the present invention does not adopt ground sphere equation of constraint, that is to say, location of the present invention is equally applicable to other targets, as terrain object, extraterrestrial target etc.

Adopt Monte-Carlo method to analyze positioning error below.

Definition angle measurement error coordinate system S _σ, its initial point O _σwith antenna coordinate be initial point O _aoverlap, coordinate system S _σcan be by S _atwice rotation obtains, as follows:

Wherein, L _y, L _zfor primitive transition matrix.Coordinate system S _σwith S _arelation as shown in Figure 5.

In figure, r _1pfor primary is to the vector of target.Defined angle measurement error coordinate system S _σ, just can in this coordinate system, express real direction finding unit vector u _1p.Making angle measurement error is θ _σ(the true angle pointing to direction finding, the Normal Distribution error pointed to), u _1pat coordinate system S _σin relation as shown in Figure 6.

U _1pat S _σin component array (u _1p) _σcan be expressed as:

${\left({\mathrm{<figure-callout\; id="1p"\; label="u"\; filenames="HDA0000444534230000022.png"\; state="\{\{state\}\}">u</figure-callout>}}_{1p}\right)}_{\mathrm{\&sigma;}}={\left[\begin{array}{ccc}\cos (\frac{\mathrm{\&pi;}}{2}-{\mathrm{\&theta;}}_{\mathrm{\&sigma;}})\cos {\mathrm{\&alpha;}}_{\mathrm{\&sigma;}}& \cos (\frac{\mathrm{\&pi;}}{2}-{\mathrm{\&theta;}}_{\mathrm{\&sigma;}})\sin {\mathrm{\&alpha;}}_{\mathrm{\&sigma;}}& \sin (\frac{\mathrm{\&pi;}}{2}-{\mathrm{\&theta;}}_{\mathrm{\&sigma;}})\end{array}\right]}^T---\left(12\right)$

In formula, α _σ∈ [0,2 π), and obedience is uniformly distributed at random.

Meanwhile, definition station heart LOS coordinate is S _g, its initial point O _gin local research station, axle X _galong local parallel is tangential, point to eastwards; Axle Y _gpoint to positive north; Z _gvertically upward, and meet right-hand rule.Coordinate system S _gcan be by S _etwice rotation obtains, as follows:

$S_e\stackrel{L_z(\mathrm{\&pi;}/2+L)}{\&RightArrow;}O\stackrel{L_x(\mathrm{\&pi;}/2-B)}{\&RightArrow;}{S}_g---\left(13\right)$

Wherein, B is geodetic latitude; L is geodetic longitude; L _xfor primitive transition matrix.Coordinate system S _eto S _gtransition matrix C _gecan be expressed as:

$C_{\mathrm{ge}}=L_x(\frac{\mathrm{\&pi;}}{2}-B)L_z(\frac{\mathrm{\&pi;}}{2}+L)---\left(14\right)$

To this, can obtain, the calculation process of analysis of Positioning Error is as follows:

1) according to the substar longitude and latitude of satellite, the calculation of longitude & latitude scope of target setting;

2) according to the appearance rail parameter of main and auxiliary star, obtain the transition matrix needing in various computation process;

3) according to the longitude and latitude scope arranging, carry out grid division, successively each node is carried out to following steps calculating;

4) according to target longitude and latitude, highly (setting constant), and by coordinate transform, calculate the vector r of primary to target _1p;

5) consider angle measurement error, obtain direction finding measured value (u _1p) _σ, by coordinate transform, obtain u _1pat S _bcomponent array represent;

6) consider attitude measurement error Δ φ, Δ θ, Δ ψ, obtain attitude matrix C _bo', associating C _ei, C _{o ' i}, obtain (u _1p) _e, calculate (r simultaneously ₁) _e, (r ₂) _e;

7) by correlation formula, calculate r _1p, (r _p) _e, and with true value comparison, obtain target single positioning error (Δ r _p) _e;

8) repeating step 5～7, statistics obtains the positioning error of this computing node;

9) return to step 3, obtain the positioning error of each node, and by result of calculation and transition matrix C _gemultiply each other, be expressed as coordinate system S _gin positioning error, be the GDOP of target location error.

Below an act example is further illustrated method described in the embodiment of the present invention.

This section is the track analysis result to aerial target by given first conventional alignment systems, then provide the track analysis result of the present invention to aerial target, by comparative illustration superiority of the present invention, finally provide the Accuracy Analysis to target level position, and by the method for target radius vector matching, the height of aerial target is accurately estimated, will specifically introduce below.

Due to conventional alignment systems, all having supposed target is terrain object, has considered the constraint of ground sphere, so do not meet earth face constraint condition for aerial target, causes positioning result to have very large error.Without loss of generality, conventional alignment systems considers to adopt the positioning result of single star direction-finding system to analyze relatively.The satellite orbital altitude that makes single star direction-finding system is 800km, the height of aerial target is 20km, flying speed is 300m/s, the observation time that satellite is detectd receipts radio signal is 4min30s, 1s provides direction finding result one time, direction finding precision is 0.1 ° (1 σ), by Continuous Observation, the flight path of aerial target is described as shown in Figure 7.

From Fig. 7, result can be found out, single star direction detecting positioning system exists very large error to the location of aerial target, can not accurately estimate course, and this is to be caused by the elevation of target, and error becomes large along with highly increasing.For other conventional alignment systems, there is equally identical result, analyze no longer one by one here.Thereby conventional alignment systems has been not suitable for the location of aerial target.

Satellite in said system is thought to primary, and a newly-increased auxiliary star, its orbital plane is consistent with primary, and double star, apart from 200km, forms double star survey time-of-arrival direction finding positioning system.Making the signal step-out time measuring accuracy of main and auxiliary star is 30ns(1 σ), by merging primary direction finding message and major-minor star time difference information, can position tracking to aerial target.To above-mentioned same aerial target, carry out numerical simulation, the flight path that obtains aerial target is described as shown in Figure 8.

From Fig. 8, result can be found out, double star is surveyed time-of-arrival direction finding positioning system can accurately estimate (in figure, substantially overlapping) to the course of aerial target, thereby has illustrated that the relative conventional alignment systems of this system has obvious superiority.

The positioning error that adopts Monto-Carlo method to survey time-of-arrival direction finding positioning system to double star is analyzed.The positional accuracy measurement that makes major-minor star is all 100m(1 σ), primary velocity survey precision is 10m/s(1 σ), attitude measurement accuracy is 0.01 ° (1 σ).To being highly that the target of 20km is carried out Monto-Carlo simulation calculation 10000 times, the positioning error result of its statistics as shown in Figure 9, Figure 10.

From Fig. 9, Figure 10, can find out, the horizontal direction positioning precision of target location is higher, is better than 2km near substar, thereby can accurately estimate the course of target.But the vertical direction positioning precision of target location is poor, by raising, surveys the time difference, direction finding precision or repeatedly measure post-processing approach and can improve.The raising of surveying the time difference, direction finding precision must propose high requirement to system hardware, under same hardware condition, can consider repeatedly to measure post-processing approach and improve the estimated accuracy of object height.As shown in figure 11, by to target Continuous Observation, and adopt linear fit method to carry out matching to target radius vector (height of target, to the line of target, has been reflected in the earth's core), can be good at reflecting object height information, the object height estimated accuracy obtaining is in 2km left and right.

Can find out, in this example, by single measurement, can accurately estimate the horizontal level of target; By Continuous Observation, can accurately estimate the flight path of target; By radius vector matching, can accurately estimate the height of target.

Next device described in the embodiment of the present invention is elaborated.

As shown in figure 12, Figure 12 is the structural representation installing described in the embodiment of the present invention, specifically can comprise:

Direction finding module, carries out radio direction finding (RDF) for controlling primary to target, obtains direction finding Vector Message;

Time difference measurement module, for measuring respectively the time of radio signal arrival primary and auxiliary star, will compare time of arrival, obtains time difference measurement information;

Resolve module, for according to described direction finding Vector Message and described time difference measurement information, calculate the positional information of described target.

Wherein, direction finding module specifically for, control primary target carried out to radio direction finding (RDF), obtain primary to the unit vector u of target _1pat antenna coordinate, be S _ain component arrays

α _a,

be respectively vector u _1pposition angle in antenna measurement coordinate system, the angle of pitch.

Resolve module specifically for, according to the real-time track of main and auxiliary star, attitude parameter and other known parameters, obtain primary S ₁position vector r ₁at equator, the earth's core inertial coordinates system S _iin component arrays (r ₁) _i, auxiliary star S ₂position vector r ₂at S _iin component arrays (r ₂) _iand transition matrix C _ei, C _bo', C _{o ' i}, C _ba, wherein, C _eirepresent S _ito equator, the earth's core rotating coordinate system S _etransition matrix, C _bo'represent the second orbital coordinate system S _o' to primary body coordinate system S _btransition matrix, C _{o ' i}represent S _ito S _o' transition matrix, C _barepresent antenna measurement coordinate system S _ato S _btransition matrix;

According to (the r of above-mentioned acquisition ₁) _i, (r ₂) _iand C _ei, C _bo', C _{o ' i}, C _ba, and the primary that obtains by direction finding of primary is to the unit vector u of target _1pat S _ain component arrays (u _1p) _a, calculate and obtain unit vector u _1pat S _ein component arrays (u _1p) _eand vector r ₁at S _ein component arrays (r ₁) _e, vector r ₂at S _ein component arrays (r ₂) _e;

According to primary S ₁range-to-go r _1pand above-mentioned (r ₁) _e, (u _1p) _e, calculate and obtain target at S _ein positioning result (r _p) _e, i.e. (r _p) _e=r _1p(u _1p) _e+ (r ₁) _e, r _prepresent the position vector of target.

Make primary S ₁range-to-go r _1p=|| r _p-r ₁||,

r ₁=|| r ₁||, r ₂=|| r ₂||; C represents the light velocity, Δ t ₂₁represent that signal arrives primary S ₁relatively arrive auxiliary star S ₂time difference measurement information;

(r ₁) _e=C _ei(r ₁) _i

(r ₂) _e=C _ei(r ₂) _i。

(u1 _p) _e=C _ei(C _bo'C _o′i) ^TC _ba(u _1p) _a

Above-mentioned C _{o ' i}solve by the following method:

Make S _o' coordinate axis X _o', Y _o', Z _o' unit vector be respectively i ' _o, j ' _o, k ' _o, according to S _o' definition, there is following relational expression:

$k_o^{\&prime;}=-\frac{{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1}{\left|\right|{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}$

$j_o^{\&prime;}=\frac{{\mathrm{<figure-callout\; id="1"\; label="v"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">v</figure-callout>}}_1\&times;{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1}{\left|\right|{\mathrm{<figure-callout\; id="1"\; label="v"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">v</figure-callout>}}_1\&times;{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}$

i′ _o=j′ _o×k′ _o

Above-mentioned unit vector i ' _o, j ' _o, k ' _oat S _iin component array can be expressed as:

${\left(k_o^{\&prime;}\right)}_i=-\frac{{\left(r_1\right)}_i}{\left|\right|{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}$

${\left(j_o^{\&prime;}\right)}_i=-\frac{{\left(v_1\right)}_i\&times;{\left(r_1\right)}_i}{\left|\right|{\mathrm{<figure-callout\; id="1"\; label="v"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">v</figure-callout>}}_1\left|\right|\left|\right|{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="HDA0000444534230000051.png,HDA0000444534230000052.png"\; state="\{\{state\}\}">r</figure-callout>}}_1\left|\right|}$

(i′ _o) _i=(j′ _o) _i×(k′ _o) _i

Obtain by inertial coordinates system S _itransform to the second orbital coordinate system S _o' transition matrix C _{o ' i}for:

$C_{o^{\&prime;}i}=\left[\begin{array}{c}{\left(i_o^{\&prime;}\right)}_i^T\\ {\left(j_o^{\&prime;}\right)}_i^T\\ {\left(k_o^{\&prime;}\right)}_i^T\end{array}\right].$

In sum, the embodiment of the present invention provides a kind of double star that is applied to aerial target location to survey time-of-arrival direction finding method and device, based on the information fusion of double star time difference measurement and primary direction finding, can realize the three-dimensional localization of aerial target.By moveout equation, can determine a bi-curved single leaf, and crossing with direction finding vector, and its intersection point is anchor point.For tradition list star, double star, three star problem system, can only position on a surface target, and be that maybe needing of cannot locating meets certain hypothesis and could locate to thering is the target of elevation.The double star that the embodiment of the present invention proposes is surveyed time-of-arrival direction finding system, without any under assumed condition, not only can position aerial target, and can be on a surface target, extraterrestrial target positions, and in radiolocation field, has higher using value.

The above; only for preferably embodiment of the present invention, but protection scope of the present invention is not limited to this, is anyly familiar with in technical scope that those skilled in the art disclose in the present invention; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.

Claims (10)

1. the double star that is applied to aerial target location is surveyed a time-of-arrival direction finding method, it is characterized in that, comprising:

Steps A: primary carries out radio direction finding (RDF) to target, obtains direction finding Vector Message;

Step B: measure respectively the time of radio signal arrival primary and auxiliary star, will compare time of arrival, obtain time difference measurement information;

Step C: according to described direction finding Vector Message and described time difference measurement information, calculate the positional information of described target.

2. method according to claim 1, is characterized in that, described steps A comprises:

Primary carries out radio direction finding (RDF) to target, obtains the unit vector u of primary to target _1pat antenna coordinate, be S _ain component arrays

α _a,

be respectively vector u _1pposition angle in antenna measurement coordinate system, the angle of pitch.

3. method according to claim 1 and 2, is characterized in that, described step C comprises:

According to the real-time track of main and auxiliary star, attitude parameter and other known parameters, obtain primary S ₁position vector r ₁at equator, the earth's core inertial coordinates system S _iin component arrays (r ₁) _i, auxiliary star S ₂position vector r ₂at S _iin component arrays (r ₂) _iand transition matrix C _ei, C _bo', C _{o ' i}, C _ba, wherein, C _eirepresent S _ito equator, the earth's core rotating coordinate system S _etransition matrix, C _bo'represent the second orbital coordinate system S _o' to primary body coordinate system S _btransition matrix, C _{o ' i}represent S _ito S _o' transition matrix, C _barepresent antenna measurement coordinate system S _ato S _btransition matrix;

According to (the r of above-mentioned acquisition ₁) _i, (r ₂) _iand C _ei, C _bo', C _{o ' i}, C _ba, and the primary that obtains by direction finding of primary is to the unit vector u of target _1pat S _ain component arrays (u _1p) _a, calculate and obtain unit vector u _1pat S _ein component arrays (u _1p) _eand vector r ₁at S _ein component arrays (r ₁) _e, vector r ₂at S _ein component arrays (r ₂) _e;

According to primary S ₁range-to-go r _1pand above-mentioned (r ₁) _e, (u _1p) _e, calculate and obtain target at S _ein positioning result (r _p) _e, i.e. (r _p) _e=r _1p(u _1p) _e+ (r ₁) _e, r _prepresent the position vector of target.

4. method according to claim 3, is characterized in that,

Make primary S ₁range-to-go r _1p=|| r _p-r ₁||, derive and draw

r ₁=|| r ₁||, r ₂=|| r ₂||; C represents the light velocity, Δ t ₂₁represent that signal arrives primary S ₁relatively arrive auxiliary star S ₂time difference measurement information;

(r ₁) _e＝C _ei(r ₁) _i

(r ₂) _e＝C _ei(r ₂) _i。

(u _1p) _e＝C _ei(C _bo'C _o′i) ^TC _ba(u _1p) _a

5. method according to claim 4, is characterized in that, above-mentioned C _{o ' i}solve by the following method:

Make S _o' coordinate axis X _o', Y _o', Z _o' unit vector be respectively i ' _o, j ' _o, k ' _o, according to S _o' definition, there is following relational expression:

$k_o^{\&prime;}=-\frac{r_1}{\left|\right|r_1\left|\right|}$

$j_o^{\&prime;}=\frac{v_1\&times;r_1}{\left|\right|v_1\&times;r_1\left|\right|}$

i′ _o＝j′ _o×k′ _o

Above-mentioned unit vector i ' _o, j ' _o, k ' _oat S _iin component array can be expressed as:

${\left(k_o^{\&prime;}\right)}_i=-\frac{{\left(r_1\right)}_i}{\left|\right|r_1\left|\right|}$

${\left(j_o^{\&prime;}\right)}_i=-\frac{{\left(v_1\right)}_i\&times;{\left(r_1\right)}_i}{\left|\right|v_1\left|\right|\left|\right|r_1\left|\right|}$

(i′ _o) _i＝(j′ _o) _i×(k′ _o) _i

Obtain by inertial coordinates system S _itransform to the second orbital coordinate system S _o' transition matrix C _{o ' i}for:

$C_{o^{\&prime;}i}=\left[\begin{array}{c}{\left(i_o^{\&prime;}\right)}_i^T\\ {\left(j_o^{\&prime;}\right)}_i^T\\ {\left(k_o^{\&prime;}\right)}_i^T\end{array}\right].$

6. the double star that is applied to aerial target location is surveyed a time-of-arrival direction finding device, it is characterized in that, comprising:

Direction finding module, carries out radio direction finding (RDF) for controlling primary to target, obtains direction finding Vector Message;

Time difference measurement module, for measuring respectively the time of radio signal arrival primary and auxiliary star, will compare time of arrival, obtains time difference measurement information;

Resolve module, for according to described direction finding Vector Message and described time difference measurement information, calculate the positional information of described target.

7. device according to claim 6, is characterized in that, described direction finding module specifically for, control primary target carried out to radio direction finding (RDF), obtain primary to the unit vector u of target _1pat antenna coordinate, be S _ain component arrays

α _a,

be respectively vector u _1pposition angle in antenna measurement coordinate system, the angle of pitch.

8. according to the device described in claim 6 or 7, it is characterized in that, described in resolve module specifically for, according to the real-time track of main and auxiliary star, attitude parameter and other known parameters, obtain primary S ₁position vector r ₁at equator, the earth's core inertial coordinates system S _iin component arrays (r ₁) _i, auxiliary star S ₂position vector r ₂at S _iin component arrays (r ₂) _iand transition matrix C _ei, C _bo', C _{o ' i}, C _ba, wherein, C _eirepresent S _ito equator, the earth's core rotating coordinate system S _etransition matrix, C _bo'represent the second orbital coordinate system S _o' to primary body coordinate system S _btransition matrix, C _{o ' i}represent S _ito S _o' transition matrix, C _barepresent antenna measurement coordinate system S _ato S _btransition matrix;

According to (the r of above-mentioned acquisition ₁) _i, (r ₂) _iand C _ei, C _bo', C _{o ' i}, C _ba, and the primary that obtains by direction finding of primary is to the unit vector u of target _1pat S _ain component arrays (u _1p) _a, calculate and obtain unit vector u _1pat S _ein component arrays (u _1p) _eand vector r ₁at S _ein component arrays (r ₁) _e, vector r ₂at S _ein component arrays (r ₂) _e;

According to primary S ₁range-to-go r _1pand above-mentioned (r ₁) _e, (u _1p) _e, calculate and obtain target at S _ein positioning result (r _p) _e, i.e. (r _p) _e=r _1p(u _1p) _e+ (r ₁) _e, r _prepresent the position vector of target.

9. device according to claim 8, is characterized in that,

Make primary S1 range-to-go r _1p=|| r _p-r ₁||, from

r ₁=|| r ₁||, r ₂=|| r ₂||; C represents the light velocity, Δ t ₂₁represent that signal arrives primary S ₁relatively arrive auxiliary star S ₂time difference measurement information;

(r ₁) _e＝C _ei(r1) _i

(r ₂) _e＝C _ei(r ₂) _i。

(u _1p) _e＝C _ei(C _bo'C _o′i) ^TC _ba(u _1p) _a

10. device according to claim 9, is characterized in that, above-mentioned C _{o ' i}solve by the following method:

Make S _o' coordinate axis X _o', Y _o', Z _o' unit vector be respectively i ' _o, j ' _o, k ' _o, according to S _o' definition, there is following relational expression:

$k_o^{\&prime;}=-\frac{r_1}{\left|\right|r_1\left|\right|}$

$j_o^{\&prime;}=\frac{v_1\&times;r_1}{\left|\right|v_1\&times;r_1\left|\right|}$

i′ _o＝j′ _o×k′ _o

Above-mentioned unit vector i ' _o, j ' _o, k ' _oat S _iin component array can be expressed as:

${\left(k_o^{\&prime;}\right)}_i=-\frac{{\left(r_1\right)}_i}{\left|\right|r_1\left|\right|}$

${\left(j_o^{\&prime;}\right)}_i=-\frac{{\left(v_1\right)}_i\&times;{\left(r_1\right)}_i}{\left|\right|v_1\left|\right|\left|\right|r_1\left|\right|}$

(i′ _o) _i＝(j′ _o) _i×(k′ _o) _i

Obtain by inertial coordinates system S _itransform to the second orbital coordinate system S _o' transition matrix C _{o ' i}for:

$C_{o^{\&prime;}i}=\left[\begin{array}{c}{\left(i_o^{\&prime;}\right)}_i^T\\ {\left(j_o^{\&prime;}\right)}_i^T\\ {\left(k_o^{\&prime;}\right)}_i^T\end{array}\right].$

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