CN104535993B - A kind of ground object high-precision locating method of airborne many Active Radar range findings - Google Patents

A kind of ground object high-precision locating method of airborne many Active Radar range findings Download PDF

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CN104535993B
CN104535993B CN201410683350.2A CN201410683350A CN104535993B CN 104535993 B CN104535993 B CN 104535993B CN 201410683350 A CN201410683350 A CN 201410683350A CN 104535993 B CN104535993 B CN 104535993B
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ground object
ground
unmanned plane
formula
position coordinateses
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CN104535993A (en
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顾鑫
王�华
张尧
李潇
费智婷
姜鹏
邓志均
岑小锋
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China Academy of Launch Vehicle Technology CALT
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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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/44—Monopulse radar, i.e. simultaneous lobing
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • 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
    • G01S5/12—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 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The present invention relates to a kind of ground object high-precision locating method of airborne many Active Radar range findings, by the method for the positioning that crossed to object using many Active Radars, interspace analytic geometry model is set up using the ranging information of the positional information and radar of platform, the earth coordinates positional information of object point is gone out by solving equation group directly calculation, the problem of equation of higher degree group and iterative initial value is solved in being not related to traditional method using time difference, computation complexity is greatly reduced, and significantly improves positioning precision；Solve current airborne Active Radar by carrier aircraft attitude and radar angle measurement informational influence it is larger, the radiation source of object is required based on many Radar Passive Locations of radiation source the problems such as, realize to ground stationary object and the hi-Fix for moving slowly at object.

Description

A kind of ground object high-precision locating method of airborne many Active Radar range findings
Technical field
The present invention relates to a kind of ground object high-precision locating method of airborne many Active Radar range findings, more particularly to it is a kind of Based on the method that many Active Radar networkings carry out positioning calculation to ground object by the ranging information to object, belong to object spy Survey technology field.
Background technology
Hi-Fix to ground object, is extremely important in many civil systems, can be object Reliable service is provided, safety guarantee effect is played.Current airborne radar the localization method of ground object is mainly included with Lower two kinds：Single Active Radar positioning, many radar collaboration passive locations based on radiation source.Wherein airborne single Active Radar is fixed Position is that, relative to the azimuth of aircraft, the angle of pitch and distance, the positional information for being aided with aircraft is realized to object by Measuring Object Positioning；Many Radar Passive Locations based on radiation source receive emitter Signals source by multiple radar network composites and reach each airborne quilt The positional information of time difference and aircraft between dynamic radar receiver is finally determining the position of object.
Location parameter of the single Active Radar positioning precision easily by platform, the attitude information of platform, radar angle measurement information, thunder Affect up to Multiple factors such as ranging informations, the Angle Information of the particularly attitude error and radar of platform is affected by It is larger to be difficult to be accurately positioned object.Positional information of many Radar Passive Locations based on radiation source only with platform, spoke Penetrate source related to the time of radar and the time synchronized of each platform, the method has operating distance remote, the advantages of good concealment, but It is that the method requires that tracking object must radiate corresponding electromagnetic wave, cannot to the object of radiationless source object or radar silence Realize positioning.The present invention realizes the positioning to ground object, the calculation result of the method using multiple airborne Active Radar networkings Only related to the time synchronized of position of platform information, radar range finding information and platform, the angle measurement with the attitude and radar of platform is believed Breath is unrelated, and its positioning principle precision similarly positioned with many Radar Passive Location principles based on radiation source is higher, and to itself Object without radiation source can also hi-Fix, current the method has not been reported.
At present, domestic airborne Active Radar positioning is all based on single airborne radar, by the navigation information of carrier aircraft and The metrical information of radar resolves the position of object, such as《Radar science and technology》" the airborne thunder of the curly hair table of the 1st phase the 9th in 2011 Up to detection accuracy study on assessing method " navigation error (positioning precision of carrier aircraft, attitude error) and airborne radar to carrier aircraft The error in measurement (range error, azimuth angle error and pitching angle error) of itself is in airborne radar detection data in different coordinates In impact carry out systematic analysiss.It is have radiation source passive fixed that domestic airborne many radar colocated are all based on object Position, realizes positioning to the time difference between multiple airborne radars by resolving object, such as《Electronic information countermeasure techniques》2012 the 4th " a kind of Airborne Passive radar network composite location technology " one that phase delivers is literary, mainly proposes a kind of fighter plane Airborne Passive radar association With networking survey positioning using TDOA strategy, analyze affect multi-machine collaborative highly assume survey Localization Estimate Algorithm of TDOA positioning precision because Element, this article are to realize that the algorithm positioned to ground object is studied to multiple airborne passive radar networkings, solution It is, based on the hi-Fix problem for having radiation source object, to be not involved with Active Radar networking and object location algorithm is ground Study carefully.Above-mentioned research contents and achievement are different from the implementation method of the present invention, do not conflict with the claim of the present invention.
The content of the invention
It is an object of the invention to overcome the above-mentioned deficiency of prior art, there is provided a kind of ground of airborne many Active Radar range findings Face object high-precision locating method, this method solves current airborne Active Radar by carrier aircraft attitude and radar angle measurement informational influence It is larger, the problems such as required to the radiation source of object based on many Radar Passive Locations of radiation source, realize to ground stationary object With the hi-Fix for moving slowly at object.
What the above-mentioned purpose of the present invention was mainly achieved by following technical solution：
A kind of ground object high-precision locating method of airborne many Active Radar range findings, comprises the steps：
Step (one), same ground object is scanned for using three frame unmanned planes, the ground thing will be searched first The unmanned plane of body is defined as main frame, main frame according to the position coordinateses of itself in WGS-84 coordinate systems, the distance measurement value to object and The position coordinateses S of the ground object is calculated to the angle measurement value of object0, and by position coordinateses S0Be sent to remaining two frame nobody Machine, remaining two frame unmanned plane is according to position coordinateses S0The ground object is carried out searching element, after ground object is searched, remaining By the distance measurement value and unmanned plane to ground object, the position coordinateses of itself in WGS-84 coordinate systems are sent to master to two frame unmanned planes Machine；
Step (two), set main frame in WGS-84 coordinate systems the position coordinateses of itself as P1(x1,y1,z1), remaining two frame without The man-machine position coordinateses of itself are respectively P2(x2,y2,z2),P3(x3,y3,z3), main frame is r to the distance measurement value of ground object1, its Two frame unmanned planes of remaininging are respectively r to the distance measurement value of ground object2,r3, the position coordinateses S (x, y, z) of ground object is solved, specifically Method is as follows：
Order：
Wherein d1,d2,d3Intermediate variable is, without implication；X, Y, Z are intermediate variable, without implication；a1b1,c1,a2,b2, c2Intermediate variable is, without implication；
Convolution (1) and formula (2) can be obtained：
d1=X2+Y2+Z2 (3)
d2=(X-a1)2+(Y-b1)2+(Z-c1)2 (4)
d3=(X-a2)2+(Y-b2)2+(Z-c2)2 (5)
Make formula (3) deduct formula (4) and obtain formula (7), formula (3) deducts formula (5) and obtains formula (8)：
d1=X2+Y2+Z2 (3)
d1-d2+a1 2+b1 2+c1 2=2a1X+2b1Y+2c1Z (7)
d1-d3+a2 2+b2 2+c2 2=2a2X+2b2Y+2c2Z (8)
Make D2=(d1-d2+a1 2+b1 2+c1 2)/2,D3=(d1-d3+a2 2+b2 2+c2 2)/2, then above formula be changed into：
d1=X2+Y2+Z2 (3)
D2=a1X+b1Y+c1Z (10)
D3=a2X+b2Y+c2Z (11)
Wherein D2,D3Intermediate variable is, without implication；
Simultaneous formula (10) and formula (11) can draw equation below：
X=(b2D2-b1D3)/(b2a1-a2b1)+(b1c2-c1b2)/(b2a1-a2b1)Z (12)
Y=(a2D2-a1D3)/(a2b1-b2a1)+(a1c2-c1a2)/(a2b1-b2a1)Z (13)
Make m1, m2, n1, n2Meet：
X=(b2D2-b1D3)/(b2a1-a2b1)+(b1c2-c1b2)/(b2a1-a2b1) Z=m1+n1Z (14)
Y=(a2D2-a1D3)/(a2b1-b2a1)+(a1c2-c1a2)/(a2b1-b2a1) Z=m2+n2Z (15)
Wherein m1, m2, n1, n2Intermediate variable is, without implication；
Formula (14) and formula (15) are substituted into formula (3) to obtain：
d1=(m1+n1Z)2+(m2+n2Z)2+Z2 (16)
Above formula is arranged：
(1+n1 2+n2 2)Z2+(2m1n1+2m2n2)Z+(m1 2+m2 2-d1)=0 (17)
Make β=1+n1 2+n2 2, δ=2m1n1+2m2n2, u=m1 2+m2 2-d1Solve：
Wherein β, δ, u are intermediate variable, without implication；
Cast out the value that Z is negative, by the value of Z is substituted into formula (12) and formula (13) respectively, solve X, the value of Y, according to formula (2) further calculate the coordinate S (x, y, z) of ground object.
In the ground object high-precision locating method of above-mentioned airborne many Active Radar range findings, install detection on unmanned plane additional and carry Lotus is active monopulse radar；The self-position coordinate of unmanned plane is obtained by GPS measurements；Remaining unmanned plane passes through machine to main frame Carry Data-Link and transmit the position coordinateses and the distance measurement value to ground object of itself；The time synchronized of three frame unmanned planes is awarded by GPS Shi Shixian.
In the ground object high-precision locating method of above-mentioned airborne many Active Radar range findings, the three frame unmanned plane positions of itself Put coordinate and the distance measurement value to ground object is the measured value of synchronization.
In the ground object high-precision locating method of above-mentioned airborne many Active Radars range finding, step () if in two framves Unmanned plane simultaneously scans for ground object, and a definition wherein frame unmanned plane is main frame, main frame according in WGS-84 coordinate systems oneself The position coordinateses of body, the distance measurement value to ground object and the angle measurement value to ground object calculate the position of the ground object and sit Mark S0, and by position coordinateses S0The unmanned plane for not searching ground-level finding object is sent to, it is described not search ground-level finding object Unmanned plane according to position coordinateses S0Ground object is carried out searching element, is searched unmanned plane after ground object to ground object The distance measurement value and unmanned plane position coordinateses of itself in WGS-84 coordinate systems are sent to main frame；An other frame searches ground simultaneously Also by the distance measurement value and unmanned plane to ground object, in WGS-84 coordinate systems, the position coordinateses of itself send the unmanned plane of object To main frame.
In the ground object high-precision locating method of above-mentioned airborne many Active Radars range finding, step () if in three framves without Man-machine to simultaneously scan for ground object, a definition wherein frame unmanned plane is main frame, and remaining two frame unmanned plane is by ground object Distance measurement value and unmanned plane are sent to main frame from the position coordinateses in WGS-84 coordinate systems.
In the ground object high-precision locating method of above-mentioned airborne many Active Radar range findings, ground object includes that ground is quiet Only object and ground moving object.
In the ground object high-precision locating method of above-mentioned airborne many Active Radar range findings, three framves in step (), are adopted Above unmanned plane is scanned for same ground object and positioning calculation.
In the ground object high-precision locating method of above-mentioned airborne many Active Radar range findings, using step () and step (2) calculation method obtains a series of position coordinateses S of ground objects1、S2……Sk, to position coordinateses S1、S2……SkCarry out minimum Two take advantage of Filtering Processing to obtain the final position point of ground objectK is pendulous frequency, and concrete grammar is as follows：
(1), the final position point of ground objectAs measuring value, ground object position coordinateses S1、S2……SkAs measurement It is worth, relational expression therebetween is：
Being write formula (19) as matrix form is：
Wherein V is the matrix form of object speed, and H is calculation matrix,For the matrix formulation shape of measured value
Formula, for the object of linear uniform motion, the H-matrix form of expression is：
Wherein Δ t is time interval；
Can be obtained by above formula (20)：
(2), according to least squares filtering, select the final position point of ground objectSo that error sum of squares is minimum, error The representation of quadratic sum is：
Seek the minimum of Q：
Above formula is made to be equal to 0, it is known that：
I.e.For the final position point of ground object.
The present invention has the advantage that as follows compared with prior art：
(1), the ground object high-precision locating method of airborne many Active Radar networkings proposed by the present invention, the method pass through The position of platform and the survey range information of radar resolve object space, solve Active Radar positioning by platform stance and angle measurement ability Larger problem is affected, the positioning precision to ground object is greatly improved；
(2), the method for the positioning that object crossed using many Active Radars of the invention, using the positional information and radar of platform Ranging information set up interspace analytic geometry model, the earth coordinates position of object point is gone out by solving equation group directly calculation Confidence ceases, and the problem of equation of higher degree group and iterative initial value is solved using time difference, meter is greatly reduced in being not related to traditional method Complexity is calculated, and significantly improves positioning precision；
(3), the present invention solves many passive radar networkings based on radiation source object by the way of many Active Radar networkings Alignment system complexity is required to object radiation source, can reduce by a probe unit, reduces the complexity of system；
(4), the present invention can realize the hi-Fix of ground object only with three frame unmanned planes, and measure flexible form It is changeable, meet different task requirement；
(5), the present invention processes the final position point for obtaining ground object using least squares filteringSubstantially increase thing Body positioning precision, it is higher for ground object adaptability.
Description of the drawings
Fig. 1 is ground object high-precision locating method FB(flow block) of the present invention；
Fig. 2 be unmanned aerial vehicle onboard processing system FB(flow block) of the present invention, wherein Fig. 2 a be remaining unmanned plane flow chart, Fig. 2 b For main frame flow chart；
Fig. 3 is airborne Active Radar colocated principle schematic of the invention.
Specific embodiment
The present invention is further detailed explanation with specific embodiment below in conjunction with the accompanying drawings：
It is if Fig. 1 is ground object high-precision locating method FB(flow block) of the present invention, of the invention to include that ground object searches for rank Section and ground object positioning stage, specifically include following steps：
Step (one), under the support of outside early warning information, command centre to multiple no-manned plane form into columns to sending formation control Instruction, multiple no-manned plane is scanned for ground object with airborne Active Radar, by taking three frame unmanned planes as an example, using three frame unmanned planes Same ground object is scanned for, the unmanned plane for being searched ground object first is defined as main frame, and main frame is according in WGS- In 84 coordinate systems, the position coordinateses of itself, the distance measurement value to ground object and the angle measurement value to ground object calculate ground object Position coordinateses S0, and remaining two frame unmanned plane is sent to, remaining two frame unmanned plane is according to position coordinateses S0Ground object is carried out Search element, search after ground object by unmanned plane to the distance measurement value and unmanned plane of ground object in WGS-84 coordinate systems itself Position coordinateses are sent to main frame.
If two frame unmanned planes simultaneously scan for ground object, a definition wherein frame unmanned plane is main frame, main frame according to In WGS-84 coordinate systems, the position coordinateses of itself, the distance measurement value to ground object and the angle measurement value to ground object calculate described The position coordinateses S of ground object0, and by position coordinateses S0The unmanned plane for not searching ground-level finding object is sent to, it is described not search Rope to ground-level finding object unmanned plane according to position coordinateses S0Ground object is carried out searching element, is searched nothing after ground object The man-machine position coordinateses of itself in WGS-84 coordinate systems of distance measurement value and unmanned plane to ground object are sent to main frame；It is simultaneously another An outer frame search the unmanned plane of ground object also by the distance measurement value and unmanned plane to ground object in WGS-84 coordinate systems from The position coordinateses of body are sent to main frame.
If three frame unmanned planes simultaneously scan for ground object, a definition wherein frame is main frame, and remaining two frame unmanned plane will be right The distance measurement value and unmanned plane of ground object position coordinateses of itself in WGS-84 coordinate systems are sent to main frame.
With one of unmanned aerial vehicle platform (main frame) as host node, other two unmanned planes are by the distance measurement value to ground object Host node workflow is transferred to by Data-Link with the position coordinateses of platform as shown in Fig. 2 wherein Fig. 2 a are remaining unmanned plane Flow chart, Fig. 2 b are main frame flow chart；The flow process of remaining unmanned plane and main frame is slightly different.
The workflow of remaining unmanned plane is as follows：
(1) under the guide of main unmanned plane, start Active Radar and the object of designated area is tracked；
(2) object in tracking；
(3) log-on data collection；
(4) by the data is activation main frame of subsidiary engine.
The workflow of main frame is as follows：
(1) Active Radar is tracked to object；
(2) object in tracking；
(3) receive the detection information of subsidiary engine transmission；
(4) log-on data collection；
(5) positional information of positioning calculation object.
Detection load is installed on unmanned plane of the present invention additional for active monopulse radar, the own location information of unmanned plane passes through GPS measurements are obtained, and GPS measurements obtain being Jing under WGS-84 earth coordinates, latitude, high information, the Jing that GPS is measured, latitude, height Information is converted into the coordinate under the WGS-84 earth right angle coordinate systems with the earth's core as zero.The WGS-84 mentioned in the present invention Coordinate system refers both to WGS-84 earth right angle coordinate systems.
Remaining unmanned plane transmits the position coordinateses and the distance measurement value to object of itself to main unmanned plane by airborne data link, The time synchronized of three frame unmanned planes is realized according to GPS time services.The metrical information of three frame unmanned planes is synchronous, i.e. three frame unmanned planes are certainly The position coordinateses of body and the distance measurement value to object are the measured value of synchronization.Unmanned plane of the present invention can be three framves or three framves More than.
Step (two), the accurate resolving to object location information is completed on main unmanned plane, concrete grammar is as follows：
If the position coordinateses of main frame itself are P1(x1,y1,z1), remaining two frame unmanned plane position coordinates of itself be respectively P2 (x2,y2,z2),P3(x3,y3,z3), main frame is r to the distance measurement value of ground object1, remaining distance measurement value of two frame unmanned planes to object Respectively r2,r3, the position coordinateses S (x, y, z) of object is calculated, concrete grammar is as follows：
Order：
Wherein d1,d2,d3Intermediate variable is, without implication；X, Y, Z are intermediate variable, without implication；a1b1,c1,a2,b2, c2Intermediate variable is, without implication.
Convolution (1) and formula (2) can be obtained：
d1=X2+Y2+Z2 (3)
d2=(X-a1)2+(Y-b1)2+(Z-c1)2 (4)
d3=(X-a2)2+(Y-b2)2+(Z-c2)2 (5)
Make formula (3) deduct formula (4) and obtain formula (7), formula (3) obtains formula (8) after deducting formula (5)：
d1=X2+Y2+Z2 (3)
d1-d2+a1 2+b1 2+c1 2=2a1X+2b1Y+2c1Z (7)
d1-d3+a2 2+b2 2+c2 2=2a2X+2b2Y+2c2Z (8)
Make D2=(d1-d2+a1 2+b1 2+c1 2)/2,D3=(d1-d3+a2 2+b2 2+c2 2)/2, then above formula be changed into：
d1=X2+Y2+Z2 (3)
D2=a1X+b1Y+c1Z (10)
D3=a2X+b2Y+c2Z (11)
Wherein D2,D3Intermediate variable is, without implication；
Simultaneous formula (10) and formula (11) can draw equation below：
X=(b2D2-b1D3)/(b2a1-a2b1)+(b1c2-c1b2)/(b2a1-a2b1)Z (12)
Y=(a2D2-a1D3)/(a2b1-b2a1)+(a1c2-c1a2)/(a2b1-b2a1)Z (13)
Make m1, m2, n1, n2Meet：
X=(b2D2-b1D3)/(b2a1-a2b1)+(b1c2-c1b2)/(b2a1-a2b1) Z=m1+n1Z (14)
Y=(a2D2-a1D3)/(a2b1-b2a1)+(a1c2-c1a2)/(a2b1-b2a1) Z=m2+n2Z (15)
Wherein m1, m2, n1, n2Intermediate variable is, without implication；
Formula (14) and formula (15) are substituted into formula (3) to obtain：
d1=(m1+n1Z)2+(m2+n2Z)2+Z2 (16)
Above formula is arranged：
(1+n1 2+n2 2)Z2+(2m1n1+2m2n2)Z+(m1 2+m2 2-d1)=0 (17)
Make β=1+n1 2+n2 2, δ=2m1n1+2m2n2, u=m1 2+m2 2-d1Solve：
Wherein β, δ, u are intermediate variable, without implication；
Cast out the value that Z is negative, by the value of Z is substituted into formula (12) and formula (13) respectively, solve X, the value of Y, according to formula (2) further calculate the coordinate S (x, y, z) of ground object.
Be illustrated in figure 3 airborne Active Radar colocated principle schematic of the invention, three frame unmanned planes be respectively P1, P2, P3, the investigative range of three frame unmanned planes are formed with P1, P2, P3 as the centre of sphere, three ball Ba1 with r1, r2, r3 as radius, Ba2, Ba3, wherein ball Ba1 and ball Ba2 are crossed to form a round C, and circle C is intersected with ball Ba3 for two point S and S ', S ' point correspondence Object space point when Z takes negative value, it is as air-ground in object, therefore cast out.
Step (three), every time to containing random error in object location information so that object location information error is larger, In order to further improve positioning precision using least squares filtering method, the data of continuous several times object positioning are fitted, The optimal estimation value of object is drawn, to reduce random error.
A series of position coordinateses S of ground objects is obtained using the measuring method of step () and step (two)1、S2……Sk, To position coordinateses S1、S2……SkCarry out least squares filtering and process the final position point for obtaining ground objectK is pendulous frequency, Concrete grammar is as follows：
(1), the final position point of ground objectAs measuring value, ground object positional information S1、S2……SkAs measurement It is worth, relational expression therebetween is：
Being write as matrix form is：
Wherein, V is the matrix form of object speed, and H is calculation matrix,For the matrix formulation form of measured value.
For the object of linear uniform motion, the H-matrix form of expression is：
Wherein Δ t is time interval；
Can be obtained by above formula (20)：
(2), according to least squares filtering, selectSo that error sum of squares is minimum, error sum of squares is：
Seek the minimum of Q：
Above formula is made to be equal to 0, it is known that：
()TFor transposition, i.e.,For the final position point of ground object, the positional information (x, y, z) of impact point can pass through WGS- 84 earth right angle coordinate systems are converted into the Jing of WGS-84 earth coordinates, latitude, height.
The positioning precision of ground object is compared with traditional single airborne Active Radar to ground using the inventive method The positioning precision of object improves more than 200%, relative to the how airborne passive object radiation source that receives by determining of resolving of the time difference Position mode precision improves more than 100%.
The above, optimal specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, Any those familiar with the art the invention discloses technical scope in, the change or replacement that can be readily occurred in, Should all be included within the scope of the present invention.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.

Claims (7)

1. the ground object high-precision locating method that a kind of airborne many Active Radars are found range, it is characterised in that：Comprise the steps：
Step (one), same ground object is scanned for using three frame unmanned planes, searched the ground object first Unmanned plane is defined as main frame, and main frame is according to the position coordinateses of itself in WGS-84 coordinate systems, the distance measurement value to object and to thing The angle measurement value of body calculates the position coordinateses S of the ground object0, and by position coordinateses S0Remaining two frame unmanned plane is sent to, its Two frame unmanned planes remaining according to position coordinateses S0The ground object is carried out searching element, after ground object is searched, remaining two frame By the distance measurement value and unmanned plane to ground object, the position coordinateses of itself in WGS-84 coordinate systems are sent to main frame to unmanned plane；
Step (two), set main frame in WGS-84 coordinate systems the position coordinateses of itself as P1(x1,y1,z1), remaining two frame unmanned plane The position coordinateses of itself are respectively P2(x2,y2,z2),P3(x3,y3,z3), main frame is r to the distance measurement value of ground object1, remaining two Frame unmanned plane is respectively r to the distance measurement value of ground object2,r3, solve the position coordinateses S (x, y, z) of ground object, concrete grammar It is as follows：
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 = r 1 2 ( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 = r 2 2 ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 = r 3 2 - - - ( 1 )
Order：
d 1 = r 1 2 , d 2 = r 2 2 , d 3 = r 3 2 ; X = x - x 1 , Y = y - y 1 , Z = z - z 1 ; a 1 = x 2 - x 1 , b 1 = y 2 - y 1 , c 1 = z 2 - z 1 ; a 2 = x 3 - x 1 , b 2 = y 3 - y 1 , c 2 = z 3 - z 1 ; - - - ( 2 )
Wherein d1,d2,d3Intermediate variable is, without implication；X, Y, Z are intermediate variable, without implication；a1b1,c1,a2,b2,c2 For intermediate variable, without implication；
Convolution (1) and formula (2) can be obtained：
d1=X2+Y2+Z2 (3)
d2=(X-a1)2+(Y-b1)2+(Z-c1)2 (4)
d3=(X-a2)2+(Y-b2)2+(Z-c2)2 (5)
Make formula (3) deduct formula (4) and obtain formula (7), formula (3) deducts formula (5) and obtains formula (8)：
d1=X2+Y2+Z2 (3)
d1-d2+a1 2+b1 2+c1 2=2a1X+2b1Y+2c1Z (7)
d1-d3+a2 2+b2 2+c2 2=2a2X+2b2Y+2c2Z (8)
Make D2=(d1-d2+a1 2+b1 2+c1 2)/2,D3=(d1-d3+a2 2+b2 2+c2 2)/2, then above formula be changed into：
d1=X2+Y2+Z2 (3)
D2=a1X+b1Y+c1Z (10)
D3=a2X+b2Y+c2Z (11)
Wherein D2,D3Intermediate variable is, without implication；
Simultaneous formula (10) and formula (11) can draw equation below：
X=(b2D2-b1D3)/(b2a1-a2b1)+(b1c2-c1b2)/(b2a1-a2b1)Z (12)
Y=(a2D2-a1D3)/(a2b1-b2a1)+(a1c2-c1a2)/(a2b1-b2a1)Z (13)
Make m1, m2, n1, n2Meet：
X=(b2D2-b1D3)/(b2a1-a2b1)+(b1c2-c1b2)/(b2a1-a2b1) Z=m1+n1Z (14)
Y=(a2D2-a1D3)/(a2b1-b2a1)+(a1c2-c1a2)/(a2b1-b2a1) Z=m2+n2Z (15)
Wherein m1, m2, n1, n2Intermediate variable is, without implication；
Formula (14) and formula (15) are substituted into formula (3) to obtain：
d1=(m1+n1Z)2+(m2+n2Z)2+Z2 (16)
Above formula is arranged：
(1+n1 2+n2 2)Z2+(2m1n1+2m2n2)Z+(m1 2+m2 2-d1)=0 (17)
Make β=1+n1 2+n2 2, δ=2m1n1+2m2n2, u=m1 2+m2 2-d1Solve：
Z = - δ ± δ 2 - 4 β u 2 β - - - ( 18 )
Wherein β, δ, u are intermediate variable, without implication；
Cast out the value that Z is negative, by the value of Z is substituted into formula (12) and formula (13) respectively, solve X, the value of Y is entered according to formula (2) One step calculates the coordinate S (x, y, z) of ground object；
A series of position coordinateses S of ground objects is obtained using the calculation method of step () and step (two)1、S2……Sk, it is right Position coordinateses S1、S2……SkCarry out least squares filtering and process the final position point for obtaining ground objectK is pendulous frequency, Concrete grammar is as follows：
(1), the final position point of ground objectAs measuring value, ground object position coordinateses S1、S2……SkAs measured value, Therebetween relational expression is：
S 1 = h 1 S → + v 1 S 2 = h 2 S → + v 2 . . . S k = h k S → + v k - - - ( 19 )
Being write formula (19) as matrix form is：
S ^ = H S → + V - - - ( 20 )
Wherein V is the matrix form of object speed, and H is calculation matrix,For the matrix formulation form of measured value, at the uniform velocity straight The object of line motion, the H-matrix form of expression is：
H = 1 - ( k - 1 ) Δ t 1 - ( k - 2 ) Δ t . . . . . . 1 - Δ t 1 0 - - - ( 21 )
Wherein Δ t is time interval；
Can be obtained by above formula (20)：
(2), according to least squares filtering, select the final position point of ground objectSo that error sum of squares is minimum, square-error The representation of sum is：
Q = ( S ^ - H S → ) T ( S ^ - H S → ) - - - ( 22 )
Seek the minimum of Q：
∂ Q ∂ S → = - 2 H T ( S ^ - H S → ) - - - ( 23 )
Above formula is made to be equal to 0, it is known that：
S → = ( H T H ) - 1 H T S ^ - - - ( 24 )
I.e.For the final position point of ground object.
2. the ground object high-precision locating method that a kind of airborne many Active Radars according to claim 1 are found range, which is special Levy and be：It is active monopulse radar to install detection load on the unmanned plane additional；The self-position coordinate of unmanned plane is surveyed by GPS Measure；Remaining unmanned plane transmits the position coordinateses and the distance measurement value to ground object of itself to main frame by airborne data link； The time synchronized of three frame unmanned planes is realized by GPS time services.
3. the ground object high-precision locating method that a kind of airborne many Active Radars according to claim 1 are found range, which is special Levy and be：The position coordinateses of the three framves unmanned plane itself and the distance measurement value to ground object are the measured value of synchronization.
4. the ground object high-precision locating method that a kind of airborne many Active Radars according to claim 1 are found range, which is special Levy and be：The step (one) if in two frame unmanned planes simultaneously scan for ground object, a definition wherein frame unmanned plane is main frame, Main frame is according to the position coordinateses of itself in WGS-84 coordinate systems, the distance measurement value to ground object and the angle measurement value to ground object Calculate the position coordinateses S of the ground object0, and by position coordinateses S0It is sent to nobody that do not search ground-level finding object Machine, the unmanned plane for not searching ground-level finding object is according to position coordinateses S0Ground object is carried out searching element, searches ground After the object of face, by unmanned plane, to the distance measurement value and unmanned plane of ground object, the position coordinateses of itself in WGS-84 coordinate systems send To main frame；An other frame searches the unmanned plane of ground object also by the distance measurement value and unmanned plane to ground object in WGS- simultaneously In 84 coordinate systems, the position coordinateses of itself are sent to main frame.
5. the ground object high-precision locating method that a kind of airborne many Active Radars according to claim 1 are found range, which is special Levy and be：The step (one) if in three frame unmanned planes simultaneously scan for ground object, a definition wherein frame unmanned plane is main frame, Distance measurement value and unmanned plane to ground object is sent to by remaining two frame unmanned plane from the position coordinateses in WGS-84 coordinate systems Main frame.
6. the ground object high-precision locating method that a kind of airborne many Active Radars according to claim 1 are found range, which is special Levy and be：The ground object includes ground static object and ground moving object.
7. the ground object high-precision locating method that a kind of airborne many Active Radars according to claim 1 are found range, which is special Levy and be：Same ground object is scanned for and positioning calculation using three frame above unmanned planes in the step ().
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