CN104267420A - Satellite-borne three-dimensional moving object positioning method, device and system - Google Patents
Satellite-borne three-dimensional moving object positioning method, device and system Download PDFInfo
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- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention discloses a satellite-borne three-dimensional moving object positioning method, device and system. The satellite-borne three-dimensional moving object positioning method comprises the steps of adopting a sum-difference single-pulse direction-finding technology to achieve high-accuracy self-adaption tracking and direction finding on a moving object, conducted by a main satellite, obtaining antenna wave beam pointing information from the main satellite to the moving object; performing same-source signal correlation estimation on the main satellite to obtain the difference of arrival time of a moving object transmitted signal arrived at the main satellite and arrival time of the moving object transmitted signal arrived at an auxiliary satellite according to the moving object signal sent by a receiving auxiliary satellite and detected by the auxiliary satellite, and establishing a constant time difference equation of the main satellite and a constant time difference equation of the auxiliary satellite to obtain a constant time difference curved surface of the main satellite and a constant time difference curved surface of the auxiliary satellite; positioning three-dimensional location information of the moving object according to the antenna wave beam pointing information from the main satellite to the moving object and the intersection point of the constant time difference curved surface of the main satellite and the constant time difference curved surface of the auxiliary satellite. By means of the technical scheme, the sum-difference single-pulse direction-finding technology and a double-satellite constant time difference positioning technology, the main satellite can continuously conduct high-accuracy self-adaption tracking and direction finding on the moving object on a space-based platform for a long period of time, and a credible three-dimensional positioning result can be obtained.
Description
Technical Field
The invention relates to the technical field of passive positioning and tracking, in particular to a satellite-borne three-dimensional positioning method, device and system for a moving target.
Background
The satellite-borne positioning system for the moving target is divided into single-satellite positioning and multi-satellite positioning according to the number of the required satellites.
The specific method of single-satellite positioning can be direction finding positioning, frequency measuring positioning, direction finding/phase difference change rate positioning, direction finding/frequency measuring positioning and the like. The direction-finding positioning is to use the first intersection point of the obtained ray (sight line) from the satellite to the radiation source and the earth sphere as the radiation source position, can only realize two-dimensional positioning, and cannot position an aerial target; the frequency measurement positioning needs to measure the frequency of a moving satellite when signals reach the satellite at N (N is more than or equal to 3) different moments, has large positioning error, is only suitable for low-orbit satellites, has image blurring and is not suitable for positioning a moving radiation source; the positioning accuracy of the methods such as direction finding/phase difference change rate positioning, direction finding/frequency measuring positioning and the like for target three-dimensional positioning is poor.
The specific method of multi-satellite positioning can be time/frequency difference positioning, time difference + direction finding positioning and the like. The time/frequency difference positioning and the time difference positioning are only suitable for low-frequency signals, the positioning accuracy can be improved by a method of increasing the satellite spacing, but for high-frequency signals, due to the fact that the beam width is narrow, multiple satellites are required to be located in the main lobe of the beam of the target radiation source, the satellite spacing is short, and therefore the positioning accuracy is not high.
In the prior art, the following defects exist at least:
when satellite-borne three-dimensional positioning is carried out on a moving target, a single-satellite positioning system is limited to two-dimensional positioning or has large positioning errors, so that a credible positioning result is difficult to provide, and a multi-satellite positioning system is also difficult to provide a credible positioning result due to the limitation of inter-satellite distances.
Disclosure of Invention
The invention provides a satellite-borne three-dimensional positioning method, a satellite-borne three-dimensional positioning device and a satellite-borne three-dimensional positioning system for a moving target, and aims to solve the problem of poor positioning accuracy of the existing three-dimensional positioning technology.
In order to achieve the purpose, the embodiment of the invention adopts the following technical scheme:
in one aspect, an embodiment of the present invention provides a satellite-borne three-dimensional positioning method for a moving target, where the method includes:
self-adaptive tracking direction finding is carried out on the moving target by adopting a sum-difference monopulse direction finding technology to obtain antenna beam pointing information from the main satellite to the moving target;
according to the method, arrival time differences of signals arriving at two satellites are obtained on a main satellite through homologous signal correlation estimation according to signals of a moving target received by a satellite transmitted by a satellite and received by the satellite, and an isochronous difference equation of the main satellite and the satellite is established to obtain a main and auxiliary double-satellite isochronous difference curved surface;
and positioning the three-dimensional position information of the moving target according to the intersection points of the antenna beam pointing information from the main satellite to the moving target and the main and auxiliary double-satellite isochronal difference curved surfaces.
Further, the method further comprises:
and sending the three-dimensional position information of the moving target to an auxiliary satellite, calculating by the auxiliary satellite according to the three-dimensional position information of the moving target and the three-dimensional position information of the auxiliary satellite to obtain antenna beam pointing information from the auxiliary satellite to the moving target, and controlling an antenna main lobe of the auxiliary satellite to point to the moving target by the auxiliary satellite according to the antenna beam pointing information to realize self-adaptive tracking of the auxiliary satellite.
On the other hand, the embodiment of the invention provides a satellite-borne three-dimensional positioning device for a moving target, which comprises:
the self-adaptive tracking direction-finding module is used for carrying out self-adaptive tracking direction-finding on the moving target by adopting a sum-difference monopulse direction-finding technology to obtain antenna beam pointing information from the main satellite to the moving target;
the equal time difference curved surface module is used for obtaining the arrival time difference of the signals reaching two satellites on the main satellite through homologous signal correlation estimation according to the signals of the moving target received by the auxiliary satellite and transmitted by the receiving auxiliary satellite, and establishing an equal time difference equation of the main satellite and the auxiliary satellite to obtain a main and auxiliary double-satellite equal time difference curved surface;
and the three-dimensional positioning module is used for positioning the three-dimensional position information of the moving target according to the intersection points of the antenna beam pointing information from the main satellite to the moving target and the main and auxiliary double-satellite isochronal difference curved surfaces.
Further, the adaptive tracking and positioning device further comprises:
and the position sending module is used for sending the three-dimensional position information of the moving target to an auxiliary satellite by the main satellite, calculating the antenna beam pointing information from the auxiliary satellite to the moving target by the auxiliary satellite according to the three-dimensional position information of the moving target and the three-dimensional position information of the auxiliary satellite, and controlling an antenna main lobe of the auxiliary satellite to point to the moving target by the auxiliary satellite according to the antenna beam pointing information to realize the self-adaptive tracking of the auxiliary satellite.
In another aspect, an embodiment of the present invention provides a satellite-borne three-dimensional positioning system for a moving target, where the system includes a primary satellite and a secondary satellite;
the main satellite comprises the satellite-borne three-dimensional positioning device for the moving target, and is used for realizing self-adaptive tracking and three-dimensional positioning of the moving target;
the auxiliary star is used for sending a signal of the moving target which is detected and received by the auxiliary star to the main star so as to assist the main star to realize three-dimensional positioning of the moving target, and receiving three-dimensional position information of the moving target sent by the main star so as to realize self-adaptive tracking of the auxiliary star to the moving target.
The embodiment of the invention has the beneficial effects that: the invention provides a satellite-borne three-dimensional positioning method, a satellite-borne three-dimensional positioning device and a satellite-borne three-dimensional positioning system for a moving target.A main satellite realizes self-adaptive tracking direction finding of the main satellite for the moving target by adopting a sum-difference monopulse direction finding technology, and can realize high-precision self-adaptive tracking for the moving target on a space-based platform, so that the high-precision tracking direction finding from the main satellite to the moving target is obtained; the main satellite obtains the arrival time difference of signals arriving at two satellites through homologous signal correlation estimation on the main satellite according to the signals of the moving target received by the auxiliary satellite and sent by the auxiliary satellite, an equal time difference equation of the main satellite and the auxiliary satellite is established to obtain a main and auxiliary double-satellite equal time difference curved surface, and then the three-dimensional position information of the moving target is positioned by utilizing the intersection point of the antenna beam pointing information from the main satellite to the moving target and the main and auxiliary double-satellite equal time difference curved surfaces, so that the rapid three-dimensional positioning of the moving target can be realized, a credible three-dimensional positioning result is obtained, and the problem of poor positioning accuracy of the existing three-dimensional positioning technology is solved.
In the preferred scheme, the main satellite sends the three-dimensional position information of the moving target to the auxiliary satellite, and the auxiliary satellite realizes the high-precision self-adaptive tracking of the auxiliary satellite on the moving target according to the three-dimensional position information of the moving target and the three-dimensional position information of the auxiliary satellite, so that the simultaneous self-adaptive tracking of the double satellites on the moving target is realized, the double-satellite payload configuration is simplified, and the long-time continuous three-dimensional positioning and high-precision self-adaptive tracking on the moving target are realized.
Drawings
Fig. 1 is a flowchart of a three-dimensional positioning method for a satellite-borne moving target according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a three-dimensional positioning device for a satellite-borne pair moving target according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a three-dimensional positioning system for a satellite-borne pair moving target according to an embodiment of the present invention;
fig. 4 is a schematic diagram of adaptive tracking and positioning of a satellite-borne moving target according to an embodiment of the present invention;
fig. 5 is a schematic view of a positioning result of a satellite-borne three-dimensional positioning system for a moving object at a certain time according to an embodiment of the present invention;
FIG. 6-a is a continuous positioning result of a satellite-borne three-dimensional positioning system for a moving object within 2 hours according to an embodiment of the present invention;
fig. 6-b shows the continuous positioning result of the conventional direction-finding positioning system within 2 hours.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a flowchart of a three-dimensional positioning method for a satellite-borne moving target according to an embodiment of the present invention, where the method includes:
s100, the main star carries out self-adaptive tracking direction finding on the moving target by adopting a sum-difference monopulse direction finding technology to obtain a direction finding line from the main star to the moving target.
Specifically, the main satellite receives a signal sent by a moving target, and the feed source forms and outputs a sum signal, an azimuth difference signal and a pitch difference signal to the tracking receiver;
receiving an azimuth angle error voltage Δ V from the tracking receiverAAnd pitch angle error voltage Δ VE；
According to said azimuth error voltage Δ VAAnd pitch angle error voltage Δ VEBy calculating
Obtaining an azimuth angle error delta A and a pitch angle error delta E of the main star relative to the moving target, wherein K△Low noise amplifier, A, for tracking receiversmIs sum signal amplitude, M is heelThe track receiver directional coupler coefficient and mu are differential slopes, and the mapping relation can be determined by a least square method based on a linear function;
calculating to obtain a direction finding line from the main satellite to the moving target according to the azimuth angle and the pitch angle actually pointed by the current antenna and the azimuth angle error delta A and the pitch angle error delta E; the direction finding line is the antenna beam pointing information from the main satellite to the moving target.
Furthermore, the main satellite controls the antenna main lobe to point to the moving target according to the antenna beam pointing information, and the self-adaptive tracking of the main satellite is achieved. Specifically, the main satellite feeds back the calculated azimuth angle error delta A and pitch angle error delta E to a beam forming unit of the antenna of the main satellite, and performs feedback adjustment of the direction of the synthesized beam, so that a high-precision self-adaptive tracking result is achieved.
In practical applications, the moving object includes a ground moving object, an airplane or a low-earth satellite.
S101, establishing an isochronous equation of a main satellite and an auxiliary satellite according to time for receiving auxiliary satellites sent by the auxiliary satellites to detect moving target signals to obtain a main and auxiliary double-satellite isochronous equation curved surface.
Specifically, the main satellite receives a signal of a moving target which is transmitted by the auxiliary satellite and is intercepted by the auxiliary satellite;
the signals of the moving target intercepted by the main satellite and the auxiliary satellite are estimated by the correlation of the homologous signals to obtain the arrival time difference delta t of the signals to the two satellites21Establishing an equation of the isochronous difference between the main satellite and the auxiliary satellite:
wherein r is1(x1,y1,z1) Is the three-dimensional position information of the main star, r2(x2,y2,z2) Is the three-dimensional position information of the satellite.
And S102, positioning the three-dimensional position information of the moving target according to the intersection points of the direction-finding lines from the main star to the moving target and the main and auxiliary double-star isochronal difference curved surfaces.
In particular, the equation can be solved
Obtaining a moving object rpWherein u is the three-dimensional position information of1pThe unit vector of the direction finding line from the main star to the moving target is obtained by the direction finding of the main star.
Further, the satellite-borne three-dimensional positioning method for the moving target further comprises the following steps:
the main satellite processes the three-dimensional position information of the moving target and then transmits the processed three-dimensional position information back to the ground base station;
and the main satellite sends the three-dimensional position information of the moving target to the auxiliary satellite.
It should be noted that the auxiliary satellite receives the three-dimensional position information of the moving target sent by the main satellite, calculates the auxiliary satellite antenna beam pointing information according to the three-dimensional position information of the auxiliary satellite and the three-dimensional position information of the moving target, and controls the antenna main lobe of the auxiliary satellite to point to the moving target according to the auxiliary satellite antenna beam pointing information, thereby implementing high-precision adaptive tracking of the auxiliary satellite.
Fig. 2 is a schematic diagram of a satellite-borne three-dimensional positioning device for a moving object according to an embodiment of the present invention, where the device includes:
and the self-adaptive tracking direction-finding module 10 is used for carrying out self-adaptive tracking direction-finding on the moving target by the main satellite by adopting a sum-difference monopulse direction-finding technology to obtain a direction-finding line from the main satellite to the moving target.
Specifically, the adaptive tracking direction-finding module 10 further includes:
the feed source unit is used for receiving signals sent by the moving target by the main satellite, and the feed source forms and outputs a sum signal, an azimuth difference signal and a pitch difference signal to the tracking receiver;
a voltage receiving unit for receiving an azimuth angle error voltage DeltaV from the tracking receiverAAnd pitch angle error voltage Δ VE；
A beam pointing error calculation unit for calculating a beam pointing error according to the azimuth error voltage Δ VAAnd pitch angle error voltage Δ VECalculating to obtain an azimuth angle error delta A and a pitch angle error delta E of the main satellite relative to the moving target;
the beam pointing calculation unit is used for calculating and obtaining antenna beam pointing information from the main satellite to the moving target according to the azimuth angle error delta A and the pitch angle error delta E;
and the main satellite self-adaptive tracking unit is used for controlling the antenna main lobe of the main satellite to point to the moving target according to the antenna beam pointing information from the main satellite to the moving target, so that the self-adaptive tracking of the main satellite is realized.
And the equal time difference curved surface module 11 is configured to establish an equal time difference equation between the primary satellite and the secondary satellite according to the received signals of the moving target detected and received by the secondary satellite, and obtain a primary and secondary double-satellite equal time difference curved surface.
And the three-dimensional positioning module 12 is configured to position three-dimensional position information of the moving target according to an intersection point between the direction-finding line from the main satellite to the moving target and the main and auxiliary dual-satellite isochronal difference curved surfaces.
Further, the satellite-borne three-dimensional positioning device for the moving object further includes:
and the return module is used for the main satellite to return the three-dimensional position information of the moving target to the ground base station.
And the position sending module is used for sending the three-dimensional position information of the moving target to an auxiliary satellite by the main satellite, calculating the antenna beam pointing information from the auxiliary satellite to the moving target by the auxiliary satellite according to the three-dimensional position information of the moving target and the three-dimensional position information of the auxiliary satellite, and controlling an antenna main lobe of the auxiliary satellite to point to the moving target by the auxiliary satellite according to the antenna beam pointing information to realize the self-adaptive tracking of the auxiliary satellite.
Fig. 3 is a schematic diagram of a satellite-borne three-dimensional positioning system for a moving object according to an embodiment of the present invention, where the system includes:
the main satellite 31 includes the above-mentioned adaptive tracking and positioning device, and is used for realizing adaptive tracking and three-dimensional positioning of the moving target.
And the auxiliary satellite 30 is used for sending the signal of the moving target intercepted by the auxiliary satellite 30 to the main satellite 31 so as to assist the main satellite 31 to realize the three-dimensional positioning of the moving target, and receiving the three-dimensional position information of the moving target sent by the main satellite 31 so as to realize the self-adaptive tracking of the auxiliary satellite 30 on the moving target.
The satellite 30 includes:
the signal sending unit is used for sending the signals of the moving targets detected and received by the auxiliary star 30 to the main star 31;
a position receiving unit, configured to receive three-dimensional position information of a moving object sent by the master satellite 31;
and the auxiliary satellite adaptive tracking unit is used for calculating antenna beam pointing information of the auxiliary satellite 30 according to the three-dimensional position information of the moving target sent by the main satellite 31 and the three-dimensional position information of the auxiliary satellite 30, controlling an antenna main lobe of the auxiliary satellite to point to the moving target according to the antenna beam pointing information, and realizing adaptive tracking of the auxiliary satellite 30.
Optionally, the satellite-borne three-dimensional positioning system for a moving object further includes:
and the ground station is used for receiving the processed three-dimensional position information of the moving target sent by the main satellite 31.
In order to more clearly illustrate the technical solution provided by the present invention, the technical solution provided by the present invention is described in detail below in conjunction with a specific application scenario. In this application scenario, as shown in fig. 4, a schematic diagram of satellite-borne adaptive tracking and positioning for a moving object provided in an embodiment of the present invention is shown. Wherein,
the main satellite and the auxiliary satellite respectively detect and receive radiation signals of a moving target, the auxiliary satellite sends the detected and received signals of the moving target to the main satellite, arrival time difference of the signals reaching the two satellites is obtained on the main satellite through homologous signal correlation estimation, and an equal time difference equation of the main satellite and the auxiliary satellite is established to obtain a main and auxiliary double-satellite equal time difference curved surface.
The main satellite adopts a sum-difference monopulse direction finding technology to carry out self-adaptive tracking direction finding on the moving target to obtain antenna beam pointing information from the main satellite to the moving target, high-precision self-adaptive tracking on the moving target is realized, and the moving target is positioned in three dimensions by using the obtained equal time difference equation of the main satellite and the auxiliary satellite.
The main satellite sends the three-dimensional position information of the moving target to the auxiliary satellite, the auxiliary satellite calculates the auxiliary satellite antenna beam pointing information according to the three-dimensional position information of the moving target and the three-dimensional position information of the auxiliary satellite, and then the auxiliary satellite controls the antenna main lobe to point to the moving target according to the antenna beam pointing information, so that the high-precision self-adaptive tracking of the auxiliary satellite on the moving target is realized.
In addition, the main satellite also downloads the processing information of the three-dimensional positioning of the moving target to the ground station so as to realize the monitoring of the moving target by the ground station.
Assume a moving object is oneThe airplane is erected, the flying height is 10km, the flying speed is 200m/s, a 30GHz communication terminal is arranged on the airplane, and the aperture of a transmitting antenna is 0.5 m. In order to enable the double stars in the satellite-borne three-dimensional positioning system for the moving target to be positioned in the main lobe of the airplane beam to detect the communication signal of the moving target, the inter-star distance of the double stars should be smaller thanWherein 36000km is the height of the main satellite, and the double-satellite interval can be obtained according to the empirical formula of the 3dB wave beam width of the reflecting antenna
Under the application scene, the interval between the two satellites in the self-adaptive tracking and positioning system is set to be 0.5 degrees, so that the distance between the satellites is about 368km < 424km, and the requirement of the two satellites on the simultaneous detection and the reception of the transmitted signals of the airplane is met.
The constellation parameters of the main and auxiliary double stars are respectively:
| master star | Auxiliary star | |
| Period of time | 23.934h | 23.934h |
| Eccentricity ratio | 0 | 0.0045 |
| Inclination angle of track | 0° | 0.45° |
| Argument of near place | 0° | 90° |
| Elevation node longitude | 0° | 359.5° |
| Initial phase | 0° | 0° |
In the application scenario, when the accumulated time is 0.5s, the maximum time difference change caused by the target motion is calculated to be less than 0.1ns through a simulation experiment within the range of east-west longitude +/-60 degrees or south-north latitude +/-60 degrees. Assuming that the time difference measurement accuracy is 30ns, the maximum time difference change amount due to the movement of the object in the integration time is two orders of magnitude higher than the time difference measurement accuracy, and therefore it is considered that the time difference change due to the movement of the object in the integration time of 0.5s is negligible.
Further, in the application scenario, typical parameters of the target signal and the tracking receiver are set as follows:
signal intermediate frequency: 14 MHz;
code rate: 14 MHz;
signal modulation pattern: QPSK;
AD sampling rate: 56 MHz;
tracking bandwidth: 40 percent;
and combining signal-to-noise ratio: 10 dB;
sum-difference beam gain difference: 12 dB;
differential beam slope: 2200/°;
coupling coefficient: 10 dB.
Within the accumulation time of 0.5s, obtaining an azimuth angle error delta A and an azimuth angle error voltage delta V through simulation calibrationAPitch angle error delta E and pitch angle error voltage delta VEA mapping relationship between the azimuth error voltage Δ V and the azimuth error voltage Δ AAThe mapping relation between delta A and delta V is 0.00123+0.00809APitch angle error Δ E and pitch angle error voltage Δ VEThe mapping relation between the two is that delta E is 0.00137+0.00796 delta VE。
Defining the errors of azimuth measurement and elevation measurement as follows:
eAZ＝σ[△Ameasure-△Afitting]
eEL＝σ[△Emeasure-△Efitting]
wherein Δ Ameasure、△EmeasureRespectively, the measured values of errors of azimuth angle and pitch angle, Delta Afitting、△EfittingRespectively, the error fit values of azimuth angle and pitch angle, sigma [. cndot.)]As a function of standard deviation.
The angle measurement error of the azimuth angle is 0.000447 degrees, the angle measurement error of the pitch angle is 0.000349 degrees according to the formula, and the tracking angle measurement error is obtained by integrating the errors of the azimuth angle and the pitch angle
Fig. 5 is a schematic diagram of a positioning result obtained by using the adaptive tracking positioning method provided by the embodiment of the present invention, wherein the tracking angle measurement error of the adaptive tracking direction measurement performed on the main satellite is 0.001 ° (normal generation) (appropriately deteriorated for the theoretical calculation value of 0.000567 °), and the precision of the two-satellite time difference measurement is 30 ns.
And obtaining the antenna orientation of the satellite according to the three-dimensional position information of the airplane obtained by calculation and the known satellite three-dimensional position information, so as to realize the respective self-adaptive tracking of the double-satellite pair airplane.
Fig. 6-a shows that the adaptive tracking positioning system provided by the embodiment of the invention obtains continuous positioning results within 2 hours, and fig. 6-b shows that a conventional direction-finding positioning system obtains continuous positioning results within 2 hours, wherein the direction-finding precision in the conventional direction-finding method is set to 0.1 °, which is the best direction-finding precision achieved in the conventional direction-finding method, and it is assumed that the aircraft is not tracked and lost within 2 hours.
Compared with the continuous positioning result of the satellite-borne moving target positioning system for the airplane within 2 hours in fig. 6-a and the continuous positioning result of the conventional direction-finding positioning system for the airplane within 2 hours in fig. 6-b, the technical scheme provided by the invention can realize the self-adaptive tracking of the moving target, can carry out the three-dimensional positioning on the moving target for a long time, and has more credible positioning result.
In summary, the present invention provides a satellite-borne three-dimensional positioning method, device and system for a moving target, wherein a main satellite realizes self-adaptive tracking and direction finding of the main satellite for the moving target by using a sum-difference monopulse direction finding technology, and can realize high-precision self-adaptive tracking for the moving target on a space-based platform, so as to obtain high-precision tracking and direction finding from the main satellite to the moving target; the main satellite obtains the arrival time difference of signals arriving at two satellites through homologous signal correlation estimation on the main satellite according to the signals of the moving target received by the auxiliary satellite and sent by the auxiliary satellite, an equal time difference equation of the main satellite and the auxiliary satellite is established to obtain a main and auxiliary double-satellite equal time difference curved surface, and then the three-dimensional position information of the moving target is positioned by utilizing the intersection point of the antenna beam pointing information from the main satellite to the moving target and the main and auxiliary double-satellite equal time difference curved surfaces, so that the rapid three-dimensional positioning of the moving target can be realized, a credible three-dimensional positioning result is obtained, and the problem of poor positioning accuracy of the existing three-dimensional positioning technology is solved. In the preferred scheme, the main satellite sends the three-dimensional position information of the moving target to the auxiliary satellite, and the auxiliary satellite realizes the high-precision self-adaptive tracking of the auxiliary satellite on the moving target according to the three-dimensional position information of the moving target and the three-dimensional position information of the auxiliary satellite, so that the simultaneous self-adaptive tracking of the double satellites on the moving target is realized, the double-satellite payload configuration is simplified, and the long-time continuous three-dimensional positioning and high-precision self-adaptive tracking on the moving target are realized.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A satellite-borne three-dimensional positioning method for a moving target is characterized by comprising the following steps:
self-adaptive tracking direction finding is carried out on the moving target by adopting a sum-difference monopulse direction finding technology to obtain antenna beam pointing information from the main satellite to the moving target;
according to the method, arrival time differences of signals arriving at two satellites are obtained on a main satellite through homologous signal correlation estimation according to signals of a moving target received by a satellite transmitted by a satellite and received by the satellite, and an isochronous difference equation of the main satellite and the satellite is established to obtain a main and auxiliary double-satellite isochronous difference curved surface;
and positioning the three-dimensional position information of the moving target according to the intersection points of the antenna beam pointing information from the main satellite to the moving target and the main and auxiliary double-satellite isochronal difference curved surfaces.
2. The method of claim 1, further comprising:
and sending the three-dimensional position information of the moving target to an auxiliary satellite, calculating by the auxiliary satellite according to the three-dimensional position information of the moving target and the three-dimensional position information of the auxiliary satellite to obtain antenna beam pointing information from the auxiliary satellite to the moving target, and controlling an antenna main lobe of the auxiliary satellite to point to the moving target by the auxiliary satellite according to the antenna beam pointing information of the auxiliary satellite so as to realize self-adaptive tracking of the auxiliary satellite.
3. The method according to claim 1 or 2, wherein the adaptive tracking direction finding is performed on the moving target by using a sum-difference monopulse direction finding technology, and obtaining the antenna beam pointing information from the main satellite to the moving target comprises:
the method comprises the steps that a main satellite receives signals sent by a moving target, and a feed source forms and outputs a sum signal, an azimuth difference signal and a pitching difference signal to a tracking receiver;
receiving an azimuth angle error voltage Δ V from the tracking receiverAAnd pitch angle error voltage Δ VE；
According to said azimuth error voltage Δ VAAnd pitch angle error voltage Δ VECalculating to obtain an azimuth angle error delta A and a pitch angle error delta E of the main satellite relative to the moving target;
and calculating to obtain the antenna beam pointing information from the main satellite to the moving target according to the azimuth angle and the pitch angle actually pointed by the current antenna and the azimuth angle error delta A and the pitch angle error delta E.
4. The method of claim 3, wherein the adaptive tracking direction finding of the moving target by using the sum and difference monopulse direction finding technology to obtain the antenna beam pointing information from the main satellite to the moving target further comprises:
and the main satellite controls the antenna main lobe to point to the moving target according to the antenna beam pointing information from the main satellite to the moving target, so that the self-adaptive tracking of the main satellite is realized.
5. An apparatus for three-dimensional positioning of a moving object on board a satellite, the apparatus comprising:
the self-adaptive tracking direction-finding module is used for carrying out self-adaptive tracking direction-finding on the moving target by adopting a sum-difference monopulse direction-finding technology to obtain antenna beam pointing information from the main satellite to the moving target;
the equal time difference curved surface module is used for obtaining the arrival time difference of the signals reaching two satellites on the main satellite through homologous signal correlation estimation according to the signals of the moving target received by the auxiliary satellite and transmitted by the receiving auxiliary satellite, and establishing an equal time difference equation of the main satellite and the auxiliary satellite to obtain a main and auxiliary double-satellite equal time difference curved surface;
and the three-dimensional positioning module is used for positioning the three-dimensional position information of the moving target according to the intersection points of the antenna beam pointing information from the main satellite to the moving target and the main and auxiliary double-satellite isochronal difference curved surfaces.
6. The device for three-dimensional positioning of a moving object on board a satellite according to claim 5, further comprising:
and the position sending module is used for sending the three-dimensional position information of the moving target to an auxiliary satellite, calculating the antenna beam pointing information from the auxiliary satellite to the moving target according to the three-dimensional position information of the moving target and the three-dimensional position information of the auxiliary satellite, and controlling an antenna main lobe of the auxiliary satellite to point to the moving target according to the antenna beam pointing information by the auxiliary satellite so as to realize the self-adaptive tracking of the auxiliary satellite.
7. The device for three-dimensional positioning of a moving object on board a satellite according to claim 5 or 6, wherein the adaptive tracking direction finding module comprises:
the feed source unit is used for receiving signals sent by the moving target by the main satellite, and the feed source forms and outputs a sum signal, an azimuth difference signal and a pitch difference signal to the tracking receiver;
a voltage receiving unit for receiving an azimuth angle error voltage DeltaV from the tracking receiverAAnd pitch angle error voltage Δ VE；
A beam pointing error calculation unit for calculating a beam pointing error according to the azimuth error voltage Δ VAAnd pitch angle error voltage Δ VECalculating to obtain an azimuth angle error delta A and a pitch angle error delta E of the main satellite relative to the moving target;
and the beam pointing calculation unit is used for calculating and obtaining antenna beam pointing information from the main satellite to the moving target according to the azimuth angle and the pitch angle actually pointed by the current antenna and the azimuth angle error delta A and the pitch angle error delta E.
8. The on-board three-dimensional positioning device for moving objects according to claim 7, wherein the adaptive tracking direction-finding module further comprises:
and the main satellite self-adaptive tracking unit is used for controlling the main lobe of the antenna of the main satellite to point to the moving target according to the antenna beam pointing information from the main satellite to the moving target, so that the self-adaptive tracking of the main satellite is realized.
9. A satellite-borne three-dimensional positioning system for a moving target is characterized by comprising a main satellite and an auxiliary satellite;
the main satellite comprises the satellite-borne three-dimensional positioning device for the moving target according to any one of claims 5 to 8, and is used for realizing the self-adaptive tracking and the three-dimensional positioning of the moving target;
the auxiliary satellite is used for sending a signal of the moving target which is detected and received by the auxiliary satellite to the main satellite so as to assist the main satellite to realize three-dimensional positioning of the moving target, and receiving three-dimensional position information of the moving target sent by the main satellite so as to realize self-adaptive tracking of the auxiliary satellite on the moving target.
10. The system of claim 9, wherein the satellite comprises:
the signal sending unit is used for sending the signals of the moving targets intercepted by the auxiliary satellites to the main satellite;
the position receiving unit is used for receiving the three-dimensional position information of the moving target sent by the main satellite;
and the auxiliary satellite self-adaptive tracking unit is used for calculating antenna beam pointing information from the auxiliary satellite to the moving target according to the three-dimensional position information of the moving target sent by the main satellite and the three-dimensional position information of the auxiliary satellite, and controlling an antenna main lobe of the auxiliary satellite to point to the moving target according to the antenna beam pointing information so as to realize self-adaptive tracking of the auxiliary satellite.
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