CN104035066B - Target travel-resting state determination methods based on Passive Multipoint location technology - Google Patents

Target travel-resting state determination methods based on Passive Multipoint location technology Download PDF

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CN104035066B
CN104035066B CN201410093814.4A CN201410093814A CN104035066B CN 104035066 B CN104035066 B CN 104035066B CN 201410093814 A CN201410093814 A CN 201410093814A CN 104035066 B CN104035066 B CN 104035066B
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measuring value
target
matrix
delta
multipoint location
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CN104035066A (en
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黄荣顺
彭卫
王伟
蒋凯
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Second Research Institute of CAAC
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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
    • 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
    • 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
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • 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
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements

Abstract

The invention discloses a kind of target travel resting state determination methods based on Passive Multipoint location technology, the method can use single measuring value or multiple measuring value to judge.Single measuring value judges step: calculate the geometric dilution of precision matrix of single measuring value and for being normalized measuring value to obtain judging statistic.Multiple measuring values judge: use n-th measuring value be individually subtracted 1 measuring value of remaining N and constitute a column vector according to x and y-axis data, the geometric dilution of precision matrix construction calculated then in conjunction with each measuring value goes out the correlation matrix of this column vector and for being normalized column vector to build and judging statistic, judges finally according to thresholding.The present invention is based on assumed statistical inspection and to combine airport scene monitoring multipoint location system, system suitability and robustness stronger；Amount of calculation is less and detection performance is good；Single measuring value or multiple measuring value can be selected flexibly to judge.

Description

Target travel-resting state determination methods based on Passive Multipoint location technology
Technical field
The present invention relates to the targeted surveillance technical field in civil aviation field, particularly a kind of based on Passive Multipoint location The target travel of technology-resting state determination methods.
Background technology
The supervision of airdrome scene target is the hot issue in civil aviation field.Traditional scene monitoring system is scene Surveillance radar, this equipment also exists some shortcomings, and as low in scene monitoring precision, supervision scope is affected by airport environment Greatly, easily by climatic effects such as sleet skies.
Airport scene monitoring multipoint location system belongs to passive location system based on positioning using TDOA, and its principle is first to obtain It is distributed in the time of advent poor (TDOA) of the received target of diverse location receiving station, then calculates target seat by location algorithm Mark.
Measured data shows, target location (the most referred to as amount that airport scene monitoring multipoint location system is provided Measured value) there is a following features:
1, before and after same target, time interval between continuous quantity measured value is irregular, its scope by Microsecond grade to number Ten seconds levels；
2, the statistical property of the introduced measurement noise of airport scene monitoring multipoint location system and scene position, target place Relevant；Meanwhile, there is between the measurement noise on different coordinate axess statistic correlation, and its dependency also with target place scene Position is relevant.This feature is determined by airport scene monitoring multipoint location system inherent character.
Airport scene monitoring multipoint location system actually used in, have the most real a kind of new demand, i.e. to sentence The motion of disconnected target or resting state, by the judgement of this state, be possible not only to demonstrate target kinetic characteristic more accurately, And contribute to more effectively removing the outlier that sighting distance indirect wave signal is caused.
For measuring value feature and the new demand of above-mentioned airport scene monitoring multipoint location system, involved in the present invention Target travel-resting state determination methods based on Passive Multipoint location technology is just arisen at the historic moment.
Summary of the invention
The goal of the invention of the present invention is: for the problem of above-mentioned existence, it is provided that a kind of based on Passive Multipoint location technology Target travel-resting state determination methods.
Method involved in the present invention is applied to of tracking filter part in airport scene monitoring multipoint location system Submodule, with assumed statistical inspection as theoretical basis and combine the feature of airport scene monitoring multipoint location system, can be to mesh Mark current motion conditions to judge reliably.In reality, it is judged that data are solved by airport scene monitoring multipoint location system The target position location calculated, is output as judged result (motion or resting state).
Following derivation is carried out as a example by two dimensional surface rectangular coordinate:
Aim parameter measured value is represented by:
x k = x k 0 + n x k y k = y k 0 + n y k - - - ( 1 )
xk、ykFor the measuring value in target k moment, whereinFor the actual position in target k moment, nxk、nykIt is respectively k Moment measuring value noise (i.e. zero mean Gaussian white noise stochastic process) in x-axis, y-axis.
The measuring value in k moment is deducted the measuring value in k-1 moment, x-axis, y-axis are used Δ x respectivelyk、ΔykRepresent.As made Use H0Represent that target resting state is it is assumed that H1Represent that target state is it is assumed that then have
Wherein vxk, vykFor k-1 to k moment target velocity, tkThe time of advent (TOA) of expression k moment measuring value, symbol &, | represent logical "and" (simultaneously meeting condition) and "or" (meeting one of them condition) respectively.
Obviously, (v when an object is movingxk≠ 0 or vyk≠ 0), above-mentioned static and motion judgement decision problem is converted into and sentences Disconnected Δ xk、ΔykIt is zero-mean gaussian stochastic variable or the decision problem of Non-zero Mean Gaussian random variable.
The invention provides two target travel-resting state determination methods based on Passive Multipoint location technology, one Being applicable to the judgement of multiple measuring value, another is applicable to the judgement of single measuring value, and particular content is as follows.
Be applicable to the determination methods of multiple measuring value particularly as follows:
A kind of target travel-resting state determination methods based on Passive Multipoint location technology, it is characterised in that include with Lower step:
The first step, obtain the measuring value of N number of target from airport scene monitoring multipoint location system as a window treatments Sample: { x1,y1},{x2,y2},…{xN,yN, calculate the geometric dilution of precision matrix of this N number of measuring value respectively, i.e.WhereinE(xiyi)、E(xiyi)、Represent mathematic expectaion；
Second step, use n-th measuring value are individually subtracted remaining N-1 measuring value, i.e. obtain Δ xNi=xN-xi, i= 1～N-1, Δ yNi=yN-yi, i=1～N-1；
3rd step, structureCorrelation matrix:
Q x x = E { Δ x Δ x T } = E ( x N 2 ) - E ( x 1 2 ) , E ( x N 2 ) , E ( x N 2 ) , ... E ( x N 2 ) E ( x N 2 ) , E ( x N 2 ) - E ( x 2 2 ) , E ( x N 2 ) , ... E ( x N 2 ) ... E ( x N 2 ) , E ( x N 2 ) , E ( x N 2 ) , ... E ( x N 2 ) - E ( x N - 1 2 ) ,
BuildCorrelation matrix:
Q y y = E { Δ y Δ y T } = E ( y N 2 ) - E ( y 1 2 ) , E ( y N 2 ) , E ( y N 2 ) , ... E ( y N 2 ) E ( y N 2 ) , E ( y N 2 ) - E ( y 2 2 ) , E ( y N 2 ) , ... E ( y N 2 ) ... E ( y N 2 ) , E ( y N 2 ) , E ( y N 2 ) , ... E ( y N 2 ) - E ( y N - 1 2 ) ,
BuildAndCross-correlation matrix:
Q x y = E { Δ x Δ y T } = E ( x N y N ) - E ( x 1 y 1 ) , E ( x N y N ) , E ( x N y N ) , ... E ( x N y N ) E ( x N y N ) , E ( x N y N ) - E ( x 2 y 2 ) , E ( x N y N ) , ... E ( x N y N ) ... E ( x N y N ) , E ( x N y N ) , E ( x N y N ) , ... E ( x N y N ) - E ( x N - 1 y N - 1 ) ;
4th step, by 3 matrix group of the 3rd step gained, one Matrix C of synthesisxy, i.e.By ΔxAnd Δy It is combined into a column vector Zxy, i.e.
5th step, calculating
6th step, setting level of significance αw, then can determine that measuring value thresholding Mw, re-use ξwMake a decision: work as ξw＞ MwTime, Object judgement is motion；Work as ξw≤MwTime, it is judged that target is static；
7th step, output judged result；
Above steps is repeated after 8th step, one measuring value of window sliding.
Said method is applicable to multiple measuring values are carried out sliding window hypothesis testing, and amount of calculation is relatively big, but detection performance has Improved.
Be applicable to the determination methods of single measuring value particularly as follows:
A kind of target travel-resting state determination methods based on Passive Multipoint location technology, it is characterised in that include with Lower step:
The first step, from airport scene monitoring multipoint location system amount to obtain measured value xk、yk；
Second step, computational geometry dilution of precision matrix, i.e.WhereinE(xkyk)、Represent mathematic expectaion；
3rd step, calculatingIf target is resting state, then ξkObeying degree of freedom is 2 χ2Distribution；If target is kinestate, i.e. Δ xkOr Δ ykIt is no longer zero-mean gaussian stochastic variable, ξkWill significantly become big；
4th step, setting level of significance α, then can determine that the thresholding M of single measuring value, re-use ξkDo and judge as follows:
A, work as ξkDuring ＞ M, object judgement is motion；
B, work as ξkDuring≤M, it is judged that target is static
5th step, output judged result.
Said method is applicable to carry out single measuring value assumed statistical inspection, calculates speed, has good reality Shi Xing, but false alarm rate is higher, it is easy to judge by accident.
The determination methods being applicable to multiple measuring value puts forward on the basis of single measuring value determination methods, principle Similar, simply amount of calculation has difference in detection performance, can require to use any method according to concrete engineering in reality.
In sum, owing to have employed technique scheme, the invention has the beneficial effects as follows: two methods are based on statistics The principle of hypothesis testing, and combine the feature of airport scene monitoring multipoint location system, there is stronger system suitability and Shandong Rod；During Practical Calculation,Value all very close to, it is only necessary to calculate one i.e. Can, thus computational efficiency can be improved；Two methods respectively possess some good points, and can select flexibly according to practical situation to use.
Accompanying drawing explanation
Fig. 1 is the flow chart of the embodiment of the present invention 1.
Fig. 2 is the flow chart of the embodiment of the present invention 2.
Detailed description of the invention
Below in conjunction with the accompanying drawings, the present invention is described in detail.
Embodiment 1:
As it is shown in figure 1, a kind of target travel-resting state determination methods based on Passive Multipoint location technology, its feature It is to comprise the following steps:
The first step, obtain the measuring value of N number of target from airport scene monitoring multipoint location system as a window treatments Sample: { x1,y1},{x2,y2},…{xN,yN, calculate the geometric dilution of precision matrix of this N number of measuring value respectively, i.e.WhereinE(xiyi)、E(xiyi)、Represent mathematic expectaion；
Second step, use n-th measuring value are individually subtracted remaining N-1 measuring value, i.e. obtain Δ xNi=xN-xi, i= 1～N-1, Δ yNi=yN-yi, i=1～N-1；
3rd step, structureCorrelation matrix
Q x x = E { Δ x Δ x T } = E ( x N 2 ) - E ( x 1 2 ) , E ( x N 2 ) , E ( x N 2 ) , ... E ( x N 2 ) E ( x N 2 ) , E ( x N 2 ) - E ( x 2 2 ) , E ( x N 2 ) , ... E ( x N 2 ) ... E ( x N 2 ) , E ( x N 2 ) , E ( x N 2 ) , ... E ( x N 2 ) - E ( x N - 1 2 ) ,
BuildCorrelation matrix
Q y y = E { Δ y Δ y T } = E ( y N 2 ) - E ( y 1 2 ) , E ( y N 2 ) , E ( y N 2 ) , ... E ( y N 2 ) E ( y N 2 ) , E ( y N 2 ) - E ( y 2 2 ) , E ( y N 2 ) , ... E ( y N 2 ) ... E ( y N 2 ) , E ( y N 2 ) , E ( y N 2 ) , ... E ( y N 2 ) - E ( y N - 1 2 ) ,
BuildAndCross-correlation matrix
Q x y = E { Δ x Δ y T } = E ( x N y N ) - E ( x 1 y 1 ) , E ( x N y N ) , E ( x N y N ) , ... E ( x N y N ) E ( x N y N ) , E ( x N y N ) - E ( x 2 y 2 ) , E ( x N y N ) , ... E ( x N y N ) ... E ( x N y N ) , E ( x N y N ) , E ( x N y N ) , ... E ( x N y N ) - E ( x N - 1 y N - 1 ) ;
4th step, by 3 matrix group of the 3rd step gained, one Matrix C of synthesisxy, i.e.By ΔxAnd Δy It is combined into a column vector Zxy, i.e.
5th step, calculating
6th step, setting level of significance αw, then can determine that measuring value thresholding Mw, re-use ξwMake a decision: work as ξw＞ MwTime, Object judgement is motion；Work as ξw≤MwTime, it is judged that target is static；
7th step, output judged result；
Above steps is repeated after 8th step, one measuring value of window sliding.
Embodiment 2:
As in figure 2 it is shown, a kind of target travel-resting state determination methods based on Passive Multipoint location technology, its feature It is to comprise the following steps:
The first step, from airport scene monitoring multipoint location system amount to obtain measured value xk、yk；
Second step, computational geometry dilution of precision matrix, i.e.WhereinE(xkyk)、Represent mathematic expectaion；
3rd step, calculatingIf target is resting state, then ξkObeying degree of freedom is 2 χ2Distribution；If target is kinestate, i.e. Δ xkOr Δ ykIt is no longer zero-mean gaussian stochastic variable, ξkWill significantly become big；
4th step, setting level of significance α, then can determine that the thresholding M of single measuring value, re-use ξkDo and judge as follows: A, work as ξkDuring ＞ M, object judgement is motion；B, work as ξkDuring≤M, it is judged that target is static
5th step, output judged result.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.

Claims (2)

1. target travel-resting state determination methods based on Passive Multipoint location technology, it is characterised in that include following Step:
The first step, obtain N number of measuring value of target from airport scene monitoring multipoint location system as the process in a window Sample: { x1,y1},{x2,y2},…{xN,yN, calculate the geometric dilution of precision matrix of this N number of measuring value respectively, i.e.I=1～N, whereinE(xiyi)、E(xiyi)、Represent mathematic expectaion；
Second step, use n-th measuring value are individually subtracted remaining N-1 measuring value, i.e. obtain Δ xNi=xN-xi, i=1～N- 1, Δ yNi=yN-yi, i=1～N-1；
3rd step, structure vectorAnd count according to the geometric dilution of precision matrix of the N number of measuring value calculated Calculate ΔxCorrelation matrix:
Q x x = E { Δ x Δ x T } = E ( x N 2 ) - E ( x 1 2 ) , E ( x N 2 ) , E ( x N 2 ) , ... E ( x N 2 ) E ( x N 2 ) , E ( x N 2 ) - E ( x 2 2 ) , E ( x N 2 ) , ... E ( x N 2 ) ... E ( x N 2 ) , E ( x N 2 ) , E ( x N 2 ) , ... E ( x N 2 ) - E ( x N - 1 2 ) ,
Build vectorAnd calculate Δ according to the geometric dilution of precision matrix of the N number of measuring value calculatedy's Correlation matrix:
Q y y = E { Δ y Δ y T } = E ( y N 2 ) - E ( y 1 2 ) , E ( y N 2 ) , E ( y N 2 ) , ... E ( y N 2 ) E ( y N 2 ) , E ( y N 2 ) - E ( y 2 2 ) , E ( y N 2 ) , ... E ( y N 2 ) ... E ( y N 2 ) , E ( y N 2 ) , E ( y N 2 ) , ... E ( y N 2 ) - E ( y N - 1 2 ) ,
Geometric dilution of precision matrix according to the N number of measuring value calculated calculatesAndMutual Correlation matrix
Q x y = E { Δ x Δ y T } = E ( x N y N ) - E ( x 1 y 1 ) , E ( x N y N ) , E ( x N y N ) , ... E ( x N y N ) E ( x N y N ) , E ( x N y N ) - E ( x 2 y 2 ) , E ( x N y N ) , ... E ( x N y N ) ... E ( x N y N ) , E ( x N y N ) , E ( x N y N ) , ... E ( x N y N ) - E ( x N - 1 y N - 1 ) ;
4th step, by 3 matrix group of the 3rd step gained, one Matrix C of synthesisxy, i.e.Again by ΔxAnd ΔyGroup Synthesize a column vector Zxy, i.e.
5th step, calculating
6th step, setting level of significance αw, then can determine that measuring value thresholding Mw, re-use ξwMake a decision:
A, work as ξw＞ MwTime, object judgement is motion；
B, work as ξw≤MwTime, it is judged that target is static；
7th step, output judged result；
Above steps is repeated after 8th step, one measuring value of window sliding.
2. target travel-resting state determination methods based on Passive Multipoint location technology, it is characterised in that include following Step:
The first step, from airport scene monitoring multipoint location system amount to obtain measured value xk、yk；
Second step, computational geometry dilution of precision matrix, i.e.WhereinE(xkyk)、Represent mathematic expectaion；
3rd step, calculatingIf target is resting state, then Δ xk=nxk-nxk-1, Δ yk= nyk-nyk-1, ξkObeying degree of freedom is the χ of 22Distribution；If target is kinestate, i.e. Δ xkOr Δ ykIt it is no longer zero-mean gaussian Stochastic variable, Δ xk=vxk(tk-tk-1)+(nxk-nxk-1), Δ yk=vyk(tk-tk-1)+(nyk-nyk-1), ξkWill significantly become big； nxk、nykIt is respectively k moment measuring value noise in x-axis, y-axis, vxk, vykFor k-1 to k moment target velocity, tkWhen representing k Carve the time of advent of measuring value；
4th step, setting level of significance α, then can determine that the thresholding M of single measuring value, re-use ξkDo and judge as follows:
A, work as ξkDuring ＞ M, object judgement is motion；
B, work as ξkDuring≤M, it is judged that target is static；
5th step, output judged result.
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