CN103869281A - Passive multipoint positioning system-based double-threshold association method - Google Patents
Passive multipoint positioning system-based double-threshold association method Download PDFInfo
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- CN103869281A CN103869281A CN201410091892.0A CN201410091892A CN103869281A CN 103869281 A CN103869281 A CN 103869281A CN 201410091892 A CN201410091892 A CN 201410091892A CN 103869281 A CN103869281 A CN 103869281A
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- tracking filter
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-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
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-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
- G01S5/0252—Radio frequency fingerprinting
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-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
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a passive multipoint positioning system-based double-threshold association method. The method comprises the following steps: at an initial state, a double threshold association structure is provided; two tracking filters 1 and 2 respectively calculate residual errors and respectively compare the residual errors with a preset small threshold and a preset big threshold; if the first residual error is smaller than or equal to the small threshold, track association processing is performed by the tracking filter 1, the tracking filter 2 is closed, and an association single-threshold structure is realized; if the first residual error is greater than the small threshold and the second residual error is smaller than or equal to the big threshold, outliers removing processing is performed by the tracking filter 1, track association processing is performed by the tracking filter 2, and the double threshold association structure is maintained; if the two residual errors are both greater than the big threshold, the double threshold association structure is maintained after restarting the two filters. The method has the beneficial effects that reliable association can be performed based on outliers removing; the structure of the tracking filters can be adaptively adjusted to adapt to environmental changes again, and certain robustness and adaptability are achieved.
Description
Technical field
The present invention relates to civil aviation multipoint positioning surveillance technology field, particularly a kind of double threshold correlating method based on passive multipoint system.
Background technology
Civil aviation multipoint positioning surveillance belongs to the passive location system based on time difference location.In this system, there are multiple signal receiving terminals that are distributed in diverse geographic location.Each receiving station monitors that by measuring target response signal arrives the time (TOA) of each signal receiving terminal, and center processing subsystem calculates this supervision answer signal that target is sent out and arrive the mistiming (TDOA) of each signal receiving terminal afterwards.Finally, multipoint location system calculates the mistiming TDOA that utilizes more than 3 signal receiving terminal the exact position the Output rusults that monitor target, and these results about supervision target location are for being referred to as measuring value.
The forms of motion that monitors target is comparatively complicated, monitors that target exists acceleration and deceleration rectilinear motion, linear uniform motion, turning variable motion, the form such as static at runway and taxiway, exists the forms such as static, linear uniform motion in tarmac area.Thus, the conventional association algorithm based on simple gate limit tracking filter is prone to model mismatch situation, occurs exceeding in a large number the measuring value of correlation threshold.Measured data shows, when this situation has more present turning, in the time that target returns to rectilinear motion, model mates again, and it is normal that measuring value recovers.
The practical manifestation form of the problems referred to above is: in some region, targetpath is frequently followed the tracks of termination and again initial.Because measuring value itself also exists isolated " wild value " point causing due to external interference or built-in system mismatch, the generation of the target association that sometimes can make the mistake even.So-called target association refers to measuring value and known target flight path is compared and determine the reasonably process of measurement/flight path pairing.
Summary of the invention
Goal of the invention of the present invention is: for the problem of above-mentioned existence, a kind of double threshold correlating method based on passive multipoint location system is provided, be applied to a subsystem of the passive multipoint location system of airport scene monitoring, use together in conjunction with the existing conventional association algorithm based on simple gate limit tracking filter.
In this subsystem, defined associated little thresholding and associated large thresholding, and used residual error as decision content, the residual error here refers to the absolute value of the difference of predicted value and measuring value.
The technical solution used in the present invention is such: a kind of double threshold correlating method based on passive multipoint location system, comprises the following steps:
The first step, use tracking filter 1 and tracking filter 2 to receive the measuring value of multipoint location system, original state is associated double threshold structure simultaneously;
Second step, tracking filter 1 and tracking filter 2 residual error of calculated amount measured value respectively;
The 3rd step, residual error that tracking filter 1 is calculated and default associated wicket limit relatively, the residual error that tracking filter 2 is calculated and default associated large thresholding comparison; If the residual error that tracking filter 1 calculates is less than or equal to associated little thresholding, carry out the 4th step; If the residual error that tracking filter 1 calculates is greater than the residual error that associated little thresholding and tracking filter 2 calculate and is less than or equal to associated large thresholding, carry out the 5th step; If tracking filter 1 is all greater than associated large thresholding with the residual error calculating with tracking filter 2, carry out the 6th step;
The 4th step, close tracking filter 2, measuring value is carried out to track association processing, enter association table threshold structure, carry out the 7th step;
The 5th step, do elimination of burst noise processing with tracking filter 1, replace actual amount measured value to upgrade processing by the predicted value of flight path, when the measuring value quantity satisfying condition reaches after predetermined number, restart tracking filter 1 and also complete initialization with the estimated parameter of tracking filter 2, then maintain associated double threshold structure and continue to carry out from the first step;
The 6th step, when the measuring value quantity satisfying condition reaches after predetermined number, restart tracking filter 1 and tracking filter 2, then maintain associated double threshold structure from the first step continue carry out;
The 7th step, while being association table threshold structure, tracking filter 1 receives the measuring value of multipoint location system and calculates its residual error, then by residual error and associated wicket limit relatively; If residual error is less than or equal to associated little thresholding, measuring value is carried out to track association and process the residual error that continues to calculate afterwards next measuring value; If residual error is greater than associated little thresholding and is less than associated large thresholding, restart tracking filter 2 and also complete initialization with the estimated parameter of tracking filter 1, then maintain associated double threshold structure and start to carry out from the first step; If residual error is more than or equal to associated gate in limited time, do elimination of burst noise processing with tracking filter 1, when open country value quantity reaches after default threshold number, restart tracking filter 1 and complete initialization, then maintain associated double threshold structure and continue to carry out from the first step.
In sum, owing to having adopted technique scheme, the invention has the beneficial effects as follows:
1, the in the situation that of model mismatch and the wild value of appearance, can remove to a certain extent wild value and carry out reliable association;
2, according to residual error characteristic, adjust adaptively tracking filter structure, both can obtain the tracking accuracy that associated wicket is prescribed a time limit, can improve again associated efficiency, avoid association frequently restart and terminate;
3, under some extreme case, use and restarted the tracking filter variation that again conforms, there is certain robustness;
4, owing to not relating to concrete association algorithm, therefore there is stronger adaptability.
Accompanying drawing explanation
Fig. 1 is process flow diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
As shown in Figure 1, a kind of double threshold correlating method based on passive multipoint location system, comprises the following steps:
The first step, use tracking filter 1 and tracking filter 2 to receive the measuring value of multipoint location system, original state is associated double threshold structure simultaneously;
Second step, tracking filter 1 and tracking filter 2 residual error of calculated amount measured value respectively;
The 3rd step, residual error that tracking filter 1 is calculated and default associated wicket limit relatively, the residual error that tracking filter 2 is calculated and default associated large thresholding comparison; If the residual error that tracking filter 1 calculates is less than or equal to associated little thresholding, carry out the 4th step; If the residual error that tracking filter 1 calculates is greater than the residual error that associated little thresholding and tracking filter 2 calculate and is less than or equal to associated large thresholding, carry out the 5th step; If tracking filter 1 is all greater than associated large thresholding with the residual error calculating with tracking filter 2, carry out the 6th step;
The 4th step, close tracking filter 2, measuring value is carried out to track association processing, enter association table threshold structure, carry out the 7th step;
The 5th step, do elimination of burst noise processing with tracking filter 1, replace actual amount measured value to upgrade processing by the predicted value of flight path, when the measuring value quantity satisfying condition reaches after predetermined number, restart tracking filter 1 and also complete initialization with the estimated parameter of tracking filter 2, then maintain associated double threshold structure and continue to carry out from the first step;
The 6th step, when the measuring value quantity satisfying condition reaches after predetermined number, restart tracking filter 1 and tracking filter 2, then maintain associated double threshold structure from the first step continue carry out;
The 7th step, while being association table threshold structure, tracking filter 1 receives the measuring value of multipoint location system and calculates its residual error, then by residual error and associated wicket limit relatively; If residual error is less than or equal to associated little thresholding, measuring value is carried out to track association and process the residual error that continues to calculate afterwards next measuring value; If residual error is greater than associated little thresholding and is less than associated large thresholding, restart tracking filter 2 and also complete initialization with the estimated parameter of tracking filter 1, then maintain associated double threshold structure and start to carry out from the first step; If residual error is more than or equal to associated gate in limited time, do elimination of burst noise processing with tracking filter 1, when open country value quantity reaches after default threshold number, restart tracking filter 1 and complete initialization, then maintain associated double threshold structure and continue to carry out from the first step.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (1)
1. the double threshold correlating method based on passive multipoint location system, is characterized in that comprising the following steps:
The first step, use tracking filter 1 and tracking filter 2 to receive the measuring value of multipoint location system, original state is associated double threshold structure simultaneously;
Second step, tracking filter 1 and tracking filter 2 residual error of calculated amount measured value respectively;
The 3rd step, residual error that tracking filter 1 is calculated and default associated wicket limit relatively, the residual error that tracking filter 2 is calculated and default associated large thresholding comparison; If the residual error that tracking filter 1 calculates is less than or equal to associated little thresholding, carry out the 4th step; If the residual error that tracking filter 1 calculates is greater than the residual error that associated little thresholding and tracking filter 2 calculate and is less than or equal to associated large thresholding, carry out the 5th step; If tracking filter 1 is all greater than associated large thresholding with the residual error calculating with tracking filter 2, carry out the 6th step;
The 4th step, close tracking filter 2, use amount measured value is carried out to track association processing, enter association table threshold structure, carry out the 7th step;
The 5th step, do elimination of burst noise processing with tracking filter 1, replace actual amount measured value to upgrade processing by the predicted value of flight path, use tracking filter 2 to do association, when the measuring value quantity satisfying condition reaches after predetermined number, restart tracking filter 1 and also complete initialization with the estimated parameter of tracking filter 2, then maintain associated double threshold structure and continue to carry out from the first step;
The 6th step, when the measuring value quantity satisfying condition reaches after predetermined number, restart tracking filter 1 and tracking filter 2, then maintain associated double threshold structure from the first step continue carry out;
The 7th step, while being association table threshold structure, tracking filter 1 receives the measuring value of multipoint location system and calculates its residual error, then by residual error and associated wicket limit relatively; If residual error is less than or equal to associated little thresholding, measuring value is carried out to track association and process the residual error that continues to calculate afterwards next measuring value; If residual error is greater than associated little thresholding and is less than associated large thresholding, restart tracking filter 2 and also complete initialization with the estimated parameter of tracking filter 1, then maintain associated double threshold structure and start to carry out from the first step; If residual error is more than or equal to associated gate in limited time, do elimination of burst noise processing with tracking filter 1, when open country value quantity reaches after default threshold number, restart tracking filter 1 and complete initialization, then maintain associated double threshold structure and continue to carry out from the first step.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104076354A (en) * | 2014-07-08 | 2014-10-01 | 西安电子科技大学 | Detection method for radar target tracks on basis of correlation speeds |
| CN104900091A (en) * | 2015-06-19 | 2015-09-09 | 中国电子科技集团公司第五十一研究所 | Airport passive monitoring system and air traffic management system |
| CN104931960A (en) * | 2015-05-25 | 2015-09-23 | 中国电子科技集团公司第十研究所 | Trend message and radar target state information whole-track data correlation method |
| CN114063012A (en) * | 2021-11-12 | 2022-02-18 | 四川农业大学 | Target positioning method and system applied to airport scene monitoring multipoint positioning system |
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| CN104076354A (en) * | 2014-07-08 | 2014-10-01 | 西安电子科技大学 | Detection method for radar target tracks on basis of correlation speeds |
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| CN114063012B (en) * | 2021-11-12 | 2023-05-23 | 四川农业大学 | Target positioning method and system applied to airport scene monitoring multi-point positioning system |
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