CN103744052B - A kind of double star being applied to aerial target location surveys time-of-arrival direction finding method and device - Google Patents

A kind of double star being applied to aerial target location surveys time-of-arrival direction finding method and device Download PDF

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CN103744052B
CN103744052B CN201310719514.8A CN201310719514A CN103744052B CN 103744052 B CN103744052 B CN 103744052B CN 201310719514 A CN201310719514 A CN 201310719514A CN 103744052 B CN103744052 B CN 103744052B
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primary
vector
target
coordinate
finding
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CN103744052A (en
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朱建丰
陆安南
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中国电子科技集团公司第三十六研究所
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements

Abstract

The invention discloses a kind of double star being applied to aerial target location and survey time-of-arrival direction finding method and device, including: target is carried out direction-finding station by primary, it is thus achieved that direction finding Vector Message; Measure radio signal respectively and arrive the time of advent of primary and auxiliary star, the described time of advent is compared, it is thus achieved that time difference measurement information; According to described direction finding Vector Message and described time difference measurement information, calculate the positional information of described target; The present invention propose double star survey time-of-arrival direction finding system, aerial target can not only be positioned, and can on a surface target, extraterrestrial target position, in radio position finding radio directional bearing field, there is higher using value.

Description

A kind of double star being applied to aerial target location surveys time-of-arrival direction finding method and device
Technical field
The present invention relates to radio-location technology field, particularly relate to a kind of double star being applied to aerial target location and survey time-of-arrival direction finding method and device.
Background technology
Modern war is IT-based warfare, who can preferential perception war posture, who has just grasped the initiative of war. Radio intelligence technology is as one of the 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 height, flexible arrangement, information response speed be fast, cost effectiveness advantages of higher, has become as the focus of the competition of each military power.
Utilize space-based radio intelligence system, be possible not only to obtain radio characteristic information and the information of target, and target can be positioned, find out goal activities rule. By merging RI radio intelligence and the positional information of target, using the teaching of the invention it is possible to provide more valuable military information. Relying on targeted radio radiation feature, it is that the important technology of radio intelligence system one of requires that target is accurately positioned.
For space-based radio positioning system, according to positioning means, it is possible to be divided into positioning using TDOA, frequency difference location, frequency measurement location, survey phase contrast location, DF and location and the compound positioning means be combineding with each other. According to system-satellite number, single star alignment system, Double Satellite Positioning System, three star problem system and four star alignment systems can be divided into, first three alignment system is studied relatively more at present, position mainly for ground target, and finally aerial target can be positioned by a kind of alignment system, but owing to system is huge, research is very few at present.
At present, shortcoming is compared in the alignment system research of aerial target, even if more existing documents have studied the orientation problem of aerial target targetedly, but still have some limitations.
Summary of the invention
In view of above-mentioned analysis, it is desirable to provide a kind of double star being applied to aerial target location surveys time-of-arrival direction finding method and device, in order to solve problem in prior art, the alignment system of aerial target is perfect not.
The purpose of the present invention realizes mainly by techniques below scheme:
The invention provides a kind of double star being applied to aerial target location and survey time-of-arrival direction finding method, including:
Step A: target is carried out direction-finding station by primary, it is thus achieved that direction finding Vector Message;
Step B: measure radio signal respectively and arrive the time of primary and auxiliary star, will compare the time of advent, it is thus achieved that 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 step A includes:
Target is carried out direction-finding station by primary, obtains the primary unit vector u to target1pAt antenna coordinate system SaIn component arraysαaRespectively vector u1pAzimuth in antenna measurement coordinate system, the angle of pitch.
Further, described step C includes:
According to the real-time track of main and auxiliary star, attitude parameter and other known parameters, it is thus achieved that primary S1Position vector r1At equator, the earth's core inertial coodinate system SiIn component arrays (r1)i, auxiliary star S2Position vector r2At SiIn component arrays (r2)iAnd transition matrix Cei、Cbo'、Co′i、Cba, wherein, CeiRepresent SiTo equator, the earth's core rotating coordinate system SeTransition matrix, Cbo'Represent the second orbital coordinate system So' to primary body coordinate system SbTransition matrix, Co′iRepresent SiTo So' transition matrix, CbaRepresent antenna measurement coordinate system SaTo SbTransition matrix;
(r according to above-mentioned acquisition1)i、(r2)iAnd Cei、Cbo'、Co′i、Cba, and the primary that obtained by direction finding of primary is to the unit vector u of target1pAt SaIn component arrays (u1p)a, calculate and obtain unit vector u1pAt SeIn component arrays (u1p)eAnd vector r1At SeIn component arrays (r1)e, vector r2At SeIn component arrays (r2)e;
According to primary S1Range-to-go r1pAnd above-mentioned (r1)e、(u1p)e, calculate and obtain target at SeIn positioning result (rp)e, i.e. (rp)e=r1p(u1p)e+(r1)e, rpRepresent the position vector of target.
Further, primary S is made1Range-to-go r1p=||rp-r1| |, then it is derived from
r1=||r1, r2=||r2| |; C represents the light velocity, Δ t21Represent that signal arrives primary S1Relatively arrive auxiliary star S2Time difference measurement information;
(r1)e=Cei(r1)i
(r2)e=Cei(r2)i
(u1p)e=Cei(Cbo'Co′i)TCba(u1p)a
Further, above-mentioned Co′iSolve by the following method:
Make So' coordinate axes Xo′、Yo′、Zo' unit vector respectively i 'o、j′o、k′o, according to So' definition, there is following relational expression:
k o ′ = - r 1 | | r 1 | |
j o ′ = v 1 × r 1 | | v 1 × r 1 | |
i′o=j′o×k′o
Above-mentioned unit vector i 'o、j′o、k′oAt SiIn component array be represented by:
( k o ′ ) i = - ( r 1 ) i | | r 1 | |
( j o ′ ) i = - ( v 1 ) i × ( r 1 ) i | | v 1 | | | | r 1 | |
(i′o)i=(j′o)i×(k′o)i
Then obtain by inertial coodinate system SiTransform to the second orbital coordinate system So' transition matrix Co′iFor:
C o ′ i = ( i o ′ ) i T ( j o ′ ) i T ( k o ′ ) i T .
Present invention also offers a kind of double star being applied to aerial target location and survey time-of-arrival direction finding device, including:
Direction finding module, is used for controlling primary and target is carried out direction-finding station, it is thus achieved that direction finding Vector Message;
Time difference measurement module, arrives the time of primary and auxiliary star for measuring radio signal respectively, will compare the time of advent, it is thus achieved that time difference measurement information;
Resolve module, for according to described direction finding Vector Message and described time difference measurement information, calculating the positional information of described target.
Further, described direction finding module specifically for, control primary target is carried out direction-finding station, obtain the primary unit vector u to target1pAt antenna coordinate system SaIn component arraysαaRespectively vector u1pAzimuth in antenna measurement coordinate system, the angle of pitch.
Further, described resolving module specifically for, according to the real-time track of main and auxiliary star, attitude parameter and other known parameters, it is thus achieved that primary S1Position vector r1At equator, the earth's core inertial coodinate system SiIn component arrays (r1)i, auxiliary star S2Position vector r2At SiIn component arrays (r2)iAnd transition matrix Cei、Cbo'、Co′i、Cba, wherein, CeiRepresent SiTo equator, the earth's core rotating coordinate system SeTransition matrix, Cbo'Represent the second orbital coordinate system So' to primary body coordinate system SbTransition matrix, Co′iRepresent SiTo So' transition matrix, CbaRepresent antenna measurement coordinate system SaTo SbTransition matrix;
(r according to above-mentioned acquisition1)i、(r2)iAnd Cei、Cbo'、Co′i、Cba, and the primary that obtained by direction finding of primary is to the unit vector u of target1pAt SaIn component arrays (u1p)a, calculate and obtain unit vector u1pAt SeIn component arrays (u1p)eAnd vector r1At SeIn component arrays (r1)e, vector r2At SeIn component arrays (r2)e;
According to primary S1Range-to-go r1pAnd above-mentioned (r1)e、(u1p)e, calculate and obtain target at SeIn positioning result (rp)e, i.e. (rp)e=r1p(u1p)e+(r1)e, rpRepresent the position vector of target.
Further, primary S is made1Range-to-go r1p=||rp-r1| |, then
r1=||r1| |, r2=||r2| |; C represents the light velocity, Δ t21Represent that signal arrives primary S1Relatively arrive auxiliary star S2Time difference measurement information;
(r1)e=Cei(r1)i
(r2)e=Cei(r2)i
(u1p)e=Cei(Cbo'Co′i)TCba(u1p)a
Further, above-mentioned Co′iSolve by the following method:
Make So' coordinate axes Xo′、Yo′、Zo' unit vector respectively i 'o、j′o、k′o, according to So' definition, there is following relational expression:
k o ′ = - r 1 | | r 1 | |
j o ′ = v 1 × r 1 | | v 1 × r 1 | |
i′o=j′o×k′o
Above-mentioned unit vector i 'o、j′o、k′oAt SiIn component array be represented by:
( k o ′ ) i = - ( r 1 ) i | | r 1 | |
( j o ′ ) i = - ( v 1 ) i × ( r 1 ) i | | v 1 | | | | r 1 | |
(i′o)i=(j′o)i×(k′o)i
Then obtain by inertial coodinate system SiTransform to the second orbital coordinate system So' transition matrix Co′iFor:
C o ′ i = ( i o ′ ) i T ( j o ′ ) i T ( k o ′ ) i T .
The present invention has the beneficial effect that:
The present invention propose double star survey time-of-arrival direction finding system, aerial target can not only be positioned, and can on a surface target, extraterrestrial target position, in radio position finding radio directional bearing field, there is higher using value.
Other features and advantages of the present invention will be set forth in the following description, and, becoming apparent from description of part, or understand by implementing the present invention. The purpose of the present invention and other advantages can be realized by structure specifically noted in the description write, claims and accompanying drawing and be obtained.
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 coodinate system of equator, the earth's core;
Fig. 4 is the schematic diagram of the azimuth in antenna measurement coordinate system, the angle of pitch;
Fig. 5 is coordinate system SσWith SaRelation schematic diagram;
Fig. 6 is u1pAt coordinate system SσIn relation schematic diagram;
Fig. 7 is single star direction detecting positioning system locating and tracking schematic diagram to moving-target;
Fig. 8 is that double star surveys the time-of-arrival direction finding alignment system locating and tracking schematic diagram 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 of device described in the embodiment of the present invention.
Detailed description of the invention
Specifically describing the preferred embodiments of the present invention below in conjunction with accompanying drawing, wherein, accompanying drawing constitutes the application part, and is used for together with embodiments of the present invention explaining principles of the invention.
As it is shown in figure 1, the main flow schematic diagram that Fig. 1 is the method for the invention, specifically may include that
Step 101: aerial target is carried out direction-finding station by primary, it is thus achieved that direction finding Vector Message;
Step 102: measure radio signal respectively and arrive the time of primary and auxiliary star, two times of advent are compared, it is thus achieved that 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.
Specifically describing the preferred embodiments of the present invention below in conjunction with accompanying drawing 2 to 11, wherein, accompanying drawing constitutes the application part, and is used for together with embodiments of the present invention explaining principles of the invention.
As in figure 2 it is shown, Fig. 2 is the principle schematic of Double-Star Positioning System. Primary is taked multichannel to detect debit's formula target is carried out direction finding, it is thus achieved that direction finding Vector Message; Auxiliary star is taked single channel to detect debit's formula and is measured time of arrival (toa), and compared with the time of arrival (toa) that primary is measured, it is thus achieved that time difference measurement information. By merging direction finding message and time difference information, the positional information of aerial target just can be calculated.
As it is shown on figure 3, Fig. 3 describes primary (S1), auxiliary star (S2) and aerial target (P) (abbreviation S under the inertial coodinate system of equator, the earth's corei) position relationship, being specifically defined of coordinate system refer to document (Xiao Yelun. spacecraft flight principle of dynamics [M]. Yuhang Publishing House, 1993.3, Beijing .).
Make aerial target position vector in inertial system Si and velocity respectively rp、vp, primary S1At inertial coodinate system SiIn position vector and velocity respectively r1、v1, auxiliary star S2At inertial coodinate system SiIn position vector and velocity respectively r2、v2. Then can respectively obtain double star moveout equation as follows with primary direction finding equation:
Δ t 21 = | | r 1 - r p | | c - | | r 2 - r p | | c - - - ( 1 )
u 1 p = r p - r 1 | | r p - r 1 | |
Wherein, Δ t21It is that signal arrives primary S1Relatively arrive auxiliary star S2Time difference measurement information, c is the light velocity, u1pFor primary S1The satellite obtained by direction finding is to the unit vector of target, and it is at antenna measurement coordinate system Sa(it is called for short Sa) in can be expressed as:
In formula, αaRespectively vector u1pAt antenna measurement coordinate system SaIn azimuth, the angle of pitch, as shown in Figure 4.
In Fig. 4, αaFor unit vector at plane OaXaYaOn projection and axle XaAngle, meet right hand method and just rotate to be,For unit vector and plane OaXaYaAngle, point to positive ZaAxle is just.
Investigate equation group (1), make primary S1Range-to-go r1p=||rp-r1| |, then the second fraction can turn to:
r p - r 1 = r 1 p u 1 p ⇔ r p = r 1 p u 1 p + r 1 - - - ( 3 )
Above formula is substituted into the first fraction of equation group (1), then has:
cΔ t 21 = | | r 1 - r p | | - | | r 2 - r p | | = | | - r 1 p u 1 p | | - | | r 2 - ( r 1 p u 1 p + r 1 ) | | ⇒ r 1 p - cΔ t 21 = | | r 2 - r 1 - r 1 p u 1 p | | - - - ( 4 )
Above formula both sides square are obtained respectively:
( r 1 p - cΔ t 21 ) 2 = | | r 2 | | 2 + | | r 1 | | 2 + r 1 p 2 - 2 r 2 · r 1 - 2 r 1 p r 2 · u 1 p + 2 r 1 p r 1 · u 1 p ⇒ r 1 p = r 2 2 + r 1 2 - 2 r 2 · r 1 - c 2 Δ t 21 2 2 ( r 2 · u 1 p - r 1 · u 1 p - cΔ t 21 ) - - - ( 5 )
Wherein, r2=||r2| |, r1=||r1||。
The vector in above-mentioned formula component array in different coordinates has following relation:
(r1)e=Cei(r1)i
(r2)e=Cei(r2)i(6)
(u1p)e=Cei(Cbo'Co′i)TCba(u1p)a
In formula, (r1)eRepresent primary S1Position vector r1At SeIn component arrays, (r2)eRepresent auxiliary star S2Position vector r2At SeIn component arrays, (r1)iRepresent primary S1Position vector r1At equator, the earth's core inertial coodinate system SiIn component arrays, (r2)iRepresent auxiliary star S2Position vector r2At SiIn component arrays; Matrix Cbo'、Co′i、CbaIt is all about primary S1Transition matrix; Wherein, CeiDenotation coordination system SiTo SeTransition matrix, Cbo'Represent the second orbital coordinate system So' (it is called for short So') to primary body coordinate system Sb(it is called for short Sb) transition matrix (i.e. attitude matrix), Co′iRepresent inertial coodinate system SiTo the second orbital coordinate system So' transition matrix, CbaRepresent antenna measurement coordinate system SaTo primary body coordinate system SbTransition matrix. The double star determined is surveyed in time-of-arrival direction finding method, time at a time, and (r1)i、(r2)i、(u1p)a、Cbo'、CbaIt is all known quantity, Co′iCan solve by the following method.
Make the second orbital coordinate system So' coordinate axes Xo′、Yo′、Zo' unit vector respectively i 'o、j′o、k′o, according to the second orbital coordinate system So' definition, there is following relational expression:
k o ′ = - r 1 | | r 1 | |
j o ′ = v 1 × r 1 | | v 1 × r 1 | | - - - ( 7 )
i′o=j′o×k′o
Above-mentioned unit vector is at inertial coodinate system SiIn component array be represented by:
( k o ′ ) i = - ( r 1 ) i | | r 1 | |
( j o ′ ) i = - ( v 1 ) i × ( r 1 ) i | | v 1 | | | | r 1 | | - - - ( 8 )
(i′o)i=(jo)i×(k′o)i
Wherein, (r1)i、(v1)iFor known quantity. Then can obtain by inertial coodinate system SiTransform to the second orbital coordinate system So' transition matrix Co′iFor:
C o ′ i = ( i o ′ ) i T ( j o ′ ) i T ( k o ′ ) i T - - - ( 9 )
Various it is updated to formula (5) by relevant above, just can calculate and obtain r1p, then r can be obtainedpAt SeIn component array be represented by:
(rp)e=r1p(u1p)e+(r1)e(10)
(r in above formulap)eIt is rpAt SeIn component array, namely aerial target is at coordinate system SeIn positioning result.
By above-mentioned derivation it can be seen that 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, it is thus achieved that (r1)i、(r2)iAnd transition matrix Cei、Cbo'、Co′i、Cba;
2) the direction finding result (u according to primary1p)a, calculate and obtain (u1p)e, calculate simultaneously and obtain (r1)e、(r2)e;
3) according to formula (5), calculate and obtain r1p;
4) according to formula (10), calculate and obtain aerial target at coordinate system SeIn expression (rp)e
From the positioning principle of double star survey time-of-arrival direction finding system and location algorithm derivation it can be seen that the present invention does not adopt ground sphere constraint equation, say, that the location of the present invention is equally applicable to other targets, such as ground target, extraterrestrial target etc.
Adopt Monte-Carlo method that position error is analyzed below.
Definition angle measurement error coordinate system Sσ, its initial point OσWith antenna coordinate system initial point OaOverlap, coordinate system SσCan by SaTwice rotation obtains, as follows:
Wherein, Ly、LzFor primitive transition matrix. Coordinate system SσWith SaRelation as shown in Figure 5.
In figure, r1pVector for primary to target. Define angle measurement error coordinate system Sσ, it is possible to represent real direction finding unit vector u in the coordinate system1p. Making angle measurement error is θσ(angle that true sensing is pointed to direction finding, Normal Distribution error), then u1pAt coordinate system SσIn relation as shown in Figure 6.
u1pAt SσIn component array (u1p)σCan be expressed as:
( u 1 p ) σ = cos ( π 2 - θ σ ) cos α σ cos ( π 2 - θ σ ) sin α σ sin ( π 2 - θ σ ) T - - - ( 12 )
In formula, ασ∈ [0,2 π), and obey be uniformly distributed at random.
Meanwhile, definition station heart LOS coordinate system Sg, its initial point OgAt local observation station, axle XgTangentially point to eastwards along when ground weft; Axle YgPoint to positive north; ZgVertically upward, and meet right-hand rule. Coordinate system SgCan by SeTwice rotation obtains, as follows:
S e → L z ( π / 2 + L ) O → L x ( π / 2 - B ) S g - - - ( 13 )
Wherein, B is geodetic latitude; L is geodetic longitude; LxFor primitive transition matrix. Then coordinate system SeTo SgTransition matrix CgeCan be expressed as:
C ge = L x ( π 2 - B ) L z ( π 2 + L ) - - - ( 14 )
Can obtaining to this, the calculation process of analysis of Positioning Error is as follows:
1) the substar longitude and latitude according to satellite, the calculation of longitude & latitude scope of target setting;
2) the appearance rail parameter according to main and auxiliary star, it is thus achieved that the transition matrix needed in various calculating processes;
3) carry out stress and strain model according to the longitude and latitude scope arranged, successively each node is carried out following steps calculating;
4) according to target longitude and latitude, highly (setting constant), and by coordinate transform, calculate and obtain the primary vector r to target1p;
5) consider angle measurement error, obtain direction finding measured value (u1p)σ, by coordinate transform, obtain u1pAt SbComponent array represent;
6) attitude measurement error Δ φ, Δ θ, Δ ψ are considered, it is thus achieved that attitude matrix Cbo', combine Cei、Co′i, obtain (u1p)e, calculate simultaneously and obtain (r1)e、(r2)e;
7) by correlation formula, calculate and obtain r1p、(rp)e, and compare with true value, obtain target single position error (Δ rp)e;
8) repeating step 5~7, statistics obtains the position error of this computing node;
9) step 3 is returned, it is thus achieved that the position error of each node, and by result of calculation and transition matrix CgeIt is multiplied, is expressed as coordinate system SgIn position error, be the GDOP of target location error.
Hereinafter method described in the embodiment of the present invention is further illustrated by act example.
First this section will provide the conventional alignment systems track analysis result to aerial target, then the present invention track analysis result to aerial target is provided, superiority by the comparative illustration 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, introduce more detail below.
Owing to conventional alignment systems has assumed that target is ground target, namely considering the constraint of ground sphere, so being unsatisfactory for ground sphere constraints for aerial target, causing that positioning result exists very big error.Without loss of generality, conventional alignment systems is considered as the positioning result of single star direction-finding system and is analyzed comparing. The satellite orbital altitude of the single star direction-finding system of order is 800km, the height of aerial target is 20km, flight speed is 300m/s, it is 4min30s that satellite detects the observation time receiving radio signal, 1s provides a direction finding result, direction finding precision is 0.1 ° (1 σ), then by Continuous Observation, the flight path of aerial target is described as shown in Figure 7.
Result from Fig. 7 is it can be seen that be there is very big error by single star direction detecting positioning system in the location of aerial target, it is impossible to course is accurately estimated, this is to be caused by the elevation of target, and error becomes big along with highly increasing. Identical result is equally existed for other conventional alignment systems, no longer analyzes one by one here. Thus conventional alignment systems has been not suitable for the location of aerial target.
Satellite in said system is thought primary, and a newly-increased auxiliary star, its orbital plane is consistent with primary, double star distance 200km, then composition double star survey time-of-arrival direction finding alignment system. The signal step-out time certainty of measurement making main and auxiliary star is 30ns(1 σ), by merging primary direction finding message and major-minor star time difference information, it is possible to aerial target is positioned tracking. To above-mentioned same aerial target, carrying out numerical simulation, the flight path obtaining aerial target describes as shown in Figure 8.
The course of aerial target can be carried out accurately estimation (essentially coinciding in figure) it can be seen that double star surveys time-of-arrival direction finding alignment system by result from Fig. 8, thus describing the relatively conventional alignment system of this system have obvious superiority.
The position error that double star is surveyed time-of-arrival direction finding alignment system by Monto-Carlo method is adopted to be analyzed. The positional accuracy measurement making major-minor star is all 100m(1 σ), primary tachometric survey precision is 10m/s(1 σ), attitude measurement accuracy is 0.01 ° (1 σ). The target being highly 20km is carried out 10000 Monto-Carlo simulation calculation, and the position error result of its statistics is as shown in Figure 9, Figure 10.
From Fig. 9, Figure 10 it can be seen that the horizontal direction positioning precision of target location is higher, near substar, it is better than 2km, it is thus possible to the course of target is accurately estimated. But, the vertical direction positioning precision of target location is poor, can improve by improving the survey time difference, direction finding precision or repetitive measurement post-processing approach. Survey the time difference, system hardware must be proposed high requirement by the raising of direction finding precision, when same hardware, it may be considered that repetitive measurement post-processing approach improves the estimated accuracy of object height. As shown in figure 11, by to target Continuous Observation, and adopt linear fit method that target radius vector (the earth's core, to the line of target, reflects the height of target) is fitted, can be good at reflection object height information, the object height estimated accuracy obtained is at about 2km.
It can be seen that in this example, pass through single measurement, it is possible to the horizontal level of target is accurately estimated; The flight path of target accurately can be estimated by Continuous Observation; The height of target accurately can be estimated by radius vector matching.
Next device described in the embodiment of the present invention is described in detail.
As shown in figure 12, Figure 12 is the structural representation of device described in the embodiment of the present invention, specifically may include that
Direction finding module, is used for controlling primary and target is carried out direction-finding station, it is thus achieved that direction finding Vector Message;
Time difference measurement module, arrives the time of primary and auxiliary star for measuring radio signal respectively, will compare the time of advent, it is thus achieved that time difference measurement information;
Resolve module, for according to described direction finding Vector Message and described time difference measurement information, calculating the positional information of described target.
Wherein, direction finding module specifically for, control primary target is carried out direction-finding station, obtain the primary unit vector u to target1pAt antenna coordinate system SaIn component arraysαaRespectively vector u1pAzimuth 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, it is thus achieved that primary S1Position vector r1At equator, the earth's core inertial coodinate system SiIn component arrays (r1)i, auxiliary star S2Position vector r2At SiIn component arrays (r2)iAnd transition matrix Cei、Cbo'、Co′i、Cba, wherein, CeiRepresent SiTo equator, the earth's core rotating coordinate system SeTransition matrix, Cbo'Represent the second orbital coordinate system So' to primary body coordinate system SbTransition matrix, Co′iRepresent SiTo So' transition matrix, CbaRepresent antenna measurement coordinate system SaTo SbTransition matrix;
(r according to above-mentioned acquisition1)i、(r2)iAnd Cei、Cbo'、Co′i、Cba, and the primary that obtained by direction finding of primary is to the unit vector u of target1pAt SaIn component arrays (u1p)a, calculate and obtain unit vector u1pAt SeIn component arrays (u1p)eAnd vector r1At SeIn component arrays (r1)e, vector r2At SeIn component arrays (r2)e;
According to primary S1Range-to-go r1pAnd above-mentioned (r1)e、(u1p)e, calculate and obtain target at SeIn positioning result (rp)e, i.e. (rp)e=r1p(u1p)e+(r1)e, rpRepresent the position vector of target.
Make primary S1Range-to-go r1p=||rp-r1| |, then
r1=||r1| |, r2=||r2| |; C represents the light velocity, Δ t21Represent that signal arrives primary S1Relatively arrive auxiliary star S2Time difference measurement information;
(r1)e=Cei(r1)i
(r2)e=Cei(r2)i
(u1p)e=Cei(Cbo'Co′i)TCba(u1p)a
Above-mentioned Co′iSolve by the following method:
Make So' coordinate axes Xo′、Yo′、Zo' unit vector respectively i 'o、j′o、k′o, according to So' definition, there is following relational expression:
k o ′ = - r 1 | | r 1 | |
j o ′ = v 1 × r 1 | | v 1 × r 1 | |
i′o=j′o×k′o
Above-mentioned unit vector i 'o、j′o、k′oAt SiIn component array be represented by:
( k o ′ ) i = - ( r 1 ) i | | r 1 | |
( j o ′ ) i = - ( v 1 ) i × ( r 1 ) i | | v 1 | | | | r 1 | |
(i′o)i=(j′o)i×(k′o)i
Then obtain by inertial coodinate system SiTransform to the second orbital coordinate system So' transition matrix Co′iFor:
C o ′ i = ( i o ′ ) i T ( j o ′ ) i T ( k o ′ ) i T .
In sum, embodiments provide a kind of double star being applied to aerial target location and survey time-of-arrival direction finding method and device, based on the information fusion of double star time difference measurement Yu primary direction finding, it is possible to realize the three-dimensional localization of aerial target. Being may determine that a bi-curved single leaf by moveout equation, and intersect with direction finding vector, 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 positioning meets certain hypothesis and could position to the target with elevation. The embodiment of the present invention propose double star survey time-of-arrival direction finding system, under there is no any assumed condition, aerial target can not only be positioned, and can on a surface target, extraterrestrial target position, in radio position finding radio directional bearing field, there is higher using value.
The above; being only the present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, any those familiar with the art is in the technical scope that the invention discloses; the change that can readily occur in or replacement, all should be encompassed within 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 (6)

1. the double star being applied to aerial target location surveys time-of-arrival direction finding method, it is characterised in that including:
Step A: target is carried out direction-finding station by primary, obtains the primary unit vector u to target1pAt antenna coordinate system SaIn component arraysαaRespectively vector u1pAzimuth in antenna measurement coordinate system, the angle of pitch;
Step B: measure radio signal respectively and arrive the time of primary and auxiliary star, will compare the time of advent, it is thus achieved that time difference measurement information;
Step C: according to the real-time track of main and auxiliary star, attitude parameter and other known parameters, it is thus achieved that primary S1Position vector r1At equator, the earth's core inertial coodinate system SiIn component arrays (r1)i, auxiliary star S2Position vector r2At SiIn component arrays (r2)iAnd transition matrix Cei、Cbo'、Co′i、Cba, wherein, CeiRepresent SiTo equator, the earth's core rotating coordinate system SeTransition matrix, Cbo'Represent the second orbital coordinate system S 'oTo primary body coordinate system SbTransition matrix, Co′iRepresent SiTo S 'oTransition matrix, CbaRepresent antenna measurement coordinate system SaTo SbTransition matrix; (r according to above-mentioned acquisition1)i、(r2)iAnd Cei、Cbo'、Co′i、Cba, and the primary that obtained by direction finding of primary is to the unit vector u of target1pAt SaIn component arrays (u1p)a, calculate and obtain unit vector u1pAt SeIn component arrays (u1p)eAnd vector r1At SeIn component arrays (r1)e, vector r2At SeIn component arrays (r2)e; According to primary S1Range-to-go r1pAnd above-mentioned (r1)e、(u1p)e, calculate and obtain target at SeIn positioning result (rp)e, i.e. (rp)e=r1p(u1p)e+(r1)e, rpRepresent the position vector of target.
2. method according to claim 1, it is characterised in that
Make primary S1Range-to-go r1p=| | rp-r1| |, then it is derived from
r1=| | r1| |, r2=| | r2| |; C represents the light velocity, Δ t21Represent that signal arrives primary S1Relatively arrive auxiliary star S2Time difference measurement information;
(r1)e=Cei(r1)i
(r2)e=Cei(r2)i
(u1p)e=Cei(Cbo'Co′i)TCba(u1p)a
3. method according to claim 2, it is characterised in that above-mentioned Co′iSolve by the following method:
Make S 'oCoordinate axes X 'o、Y′o、Z′oUnit vector respectively i 'o、j′o、k′o, primary S1At inertial coodinate system SiIn position vector and velocity respectively r1、v1, according to S 'oDefinition, there is following relational expression:
i′o=j 'o×k′o
Above-mentioned unit vector i 'o、j′o、k′oAt SiIn component arrays be represented by:
(i′o)i=(j 'o)i×(k′o)i
Then obtain by inertial coodinate system SiTransform to the second orbital coordinate system S 'oTransition matrix Co′iFor:
4. the double star being applied to aerial target location surveys time-of-arrival direction finding device, it is characterised in that including:
Direction finding module, is used for controlling primary and target is carried out direction-finding station, obtain the primary unit vector u to target1pAt antenna coordinate system SaIn component arraysαaRespectively vector u1pAzimuth in antenna measurement coordinate system, the angle of pitch;
Time difference measurement module, arrives the time of primary and auxiliary star for measuring radio signal respectively, will compare the time of advent, it is thus achieved that time difference measurement information;
Resolve module, for according to the real-time track of main and auxiliary star, attitude parameter and other known parameters, it is thus achieved that primary S1Position vector r1At equator, the earth's core inertial coodinate system SiIn component arrays (r1)i, auxiliary star S2Position vector r2At SiIn component arrays (r2)iAnd transition matrix Cei、Cbo'、Co′i、Cba, wherein, CeiRepresent SiTo equator, the earth's core rotating coordinate system SeTransition matrix, Cbo'Represent the second orbital coordinate system S 'oTo primary body coordinate system SbTransition matrix, Co′iRepresent SiTo S 'oTransition matrix, CbaRepresent antenna measurement coordinate system SaTo SbTransition matrix; (r according to above-mentioned acquisition1)i、(r2)iAnd Cei、Cbo'、Co′i、Cba, and the primary that obtained by direction finding of primary is to the unit vector u of target1pAt SaIn component arrays (u1p)a, calculate and obtain unit vector u1pAt SeIn component arrays (u1p)eAnd vector r1At SeIn component arrays (r1)e, vector r2At SeIn component arrays (r2)e;According to primary S1Range-to-go r1pAnd above-mentioned (r1)e、(u1p)e, calculate and obtain target at SeIn positioning result (rp)e, i.e. (rp)e=r1p(u1p)e+(r1)e, rpRepresent the position vector of target.
5. device according to claim 4, it is characterised in that
Make primary S1Range-to-go r1p=| | rp-r1| |, then it is derived from
r1=| | r1| |, r2=| | r2| |; C represents the light velocity, Δ t21Represent that signal arrives primary S1Relatively arrive auxiliary star S2Time difference measurement information;
(r1)e=Cei(r1)i
(r2)e=Cei(r2)i
(u1p)e=Cei(Cbo'Co′i)TCba(u1p)a
6. device according to claim 5, it is characterised in that above-mentioned Co′iSolve by the following method:
Make S 'oCoordinate axes X 'o、Y′o、Z′oUnit vector respectively i 'o、j′o、k′o, primary S1At inertial coodinate system SiIn position vector and velocity respectively r1、v1, according to S 'oDefinition, there is following relational expression:
i′o=j 'o×k′o
Above-mentioned unit vector i 'o、j′o、k′oAt SiIn component arrays be represented by:
(i′o)i=(j 'o)i×(k′o)i
Then obtain by inertial coodinate system SiTransform to the second orbital coordinate system S 'oTransition matrix Co′iFor:
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