CN104977559B - Target positioning method in interference environment - Google Patents

Target positioning method in interference environment Download PDF

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CN104977559B
CN104977559B CN201410134538.1A CN201410134538A CN104977559B CN 104977559 B CN104977559 B CN 104977559B CN 201410134538 A CN201410134538 A CN 201410134538A CN 104977559 B CN104977559 B CN 104977559B
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target
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sensor
same
distance
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CN104977559A (en
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杜思伟
朱峰
魏玉龙
周吉超
赵启超
李锐
唐强
顾文珊
杨刚
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Shanghai Institute of Electromechanical Engineering
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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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
    • 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
    • G01S13/46—Indirect determination of position data
    • G01S2013/468—Indirect determination of position data by Triangulation, i.e. two antennas or two sensors determine separately the bearing, direction or angle to a target, whereby with the knowledge of the baseline length, the position data of the target is determined

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

Abstract

The invention provides a target positioning method in an interference environment, which adopts at least two sensors to detect a target to obtain a pitch angle and an azimuth angle of the same target relative to the two sensors; then the target and the two sensors are projected on the same horizontal plane, and the spatial position of the target is calculated according to the sine theorem.

Description

Target positioning method in interference environment
Technical Field
The invention relates to the field of fire control systems of air-defense missile weapon systems, in particular to a target positioning method in an interference environment.
Background
With the development of technology, the battlefield environment becomes increasingly complex. Stealth, the emergence of high-speed targets and the application of electronic interference means are all great challenges faced by air defense combat. From the perspective of technical difficulty, the electronic interference means is easy to realize, and is a battlefield countermeasure means which is highly valued and generally developed by air force of each country. From the experience of local wars, the air attack party not only adopts accurate weapon hitting, but also inevitably adopts the tactics of remote support interference and air attack carrier-borne self-defense interference to weaken the fighting capacity of ground air defense force, and the safety of air attack formation is guaranteed to the maximum extent.
By the aid of the electronic interference means, a radar system of the air defense missile cannot accurately position a target position and form a track, and further cannot track, indicate and strike an approaching target. Therefore, the requirement of the air defense missile weapon system on the operational capacity in the complex electromagnetic interference environment is urgent. Therefore, not only the radar and missile equal division systems need to have good anti-interference capability, but also the weapon system needs to be capable of fusing interference target information transmitted from various sensors in command and control capability, and finally effective indication of a real target and an interference target is realized.
According to the invention, both the sensor and the target are regarded as points of a three-dimensional space, and a ray from the sensor passing through the target is determined by a method angle and a pitch angle. And positioning and tracking the target are realized through a plurality of associated rays of a plurality of sensors.
Disclosure of Invention
The invention solves the problem that the prior art can not obtain the three-dimensional position information of a target through pure angle information provided by a sensor under the condition of electronic interference; to solve the above problems, the present invention provides a target positioning method in an interference environment.
The target positioning method under the interference environment provided by the invention adopts at least two sensors to detect the target, and obtains the pitch angle and the azimuth angle of the same target relative to the two sensors; then the target and the two sensors are projected on the same horizontal plane, and the spatial position of the target is calculated according to the sine theorem.
Further, in the case of more than one target, the method further comprises: and pairing the measured data of the two sensors to find out the measured data of the two sensors to the same target.
Further, the method comprises the following steps: under the condition that more than one target is available, according to the principle that the distance between the observation rays of the two sensors to the same target is minimum, the measurement data of the sensors are paired, and detection values of the two sensors from the same target are found out.
Further, under the condition that the number of the sensors is more than 2, the detection values of any two sensors are taken to calculate the space position of the target; or the sensors are combined pairwise, the total positioning error of the three-dimensional coordinates of each combination is calculated, and the sensor combination with small error is selected for positioning.
Further, a sensor S is used1And S2Detection of the target, d1Distance between two sensors and horizontal distance, α1、α2And β1、β2Are respectively a sensor S1And S2Relative to the same targetAzimuth and pitch angles of; then, when the projections of the two sensors and the target on the same horizontal plane are not on the same line, the target is on the sensor S1And a sensor S2The coordinates in the geodetic coordinate system as origin are:
Figure GDA0002030219460000031
Figure GDA0002030219460000032
further, the distance between the observation rays of the two sensors to the target is:
Figure GDA0002030219460000033
wherein,
Figure GDA0002030219460000034
in order to observe the unit vector for the angle,
(XS1,YS1,ZS1)、(XS2,YS2,ZS2) Respectively are the coordinates of the site of two sensors under the geodetic coordinate system,
Figure GDA0002030219460000035
Figure GDA0002030219460000036
the detection values of the two sensors are respectively.
Further, α is not less than 40 DEG1-α2≤160°。
In the process of battle, the jammer interferes the radar in the interference range, so that the interfered radar cannot measure the echo time, and the radar cannot obtain the distance information and loses the capability of positioning and tracking the radar. Aiming at the positioning difficulty, the invention can position the target on the ray meeting the two angles by utilizing the azimuth angle and the pitch angle information acquired by the radar. And then the target is positioned in a cross way by the rays obtained by detecting the same interference source target by a plurality of stations.
The method can be applied to target position calculation under the target self-defense interference and distance deception implementation means, and provides available target three-dimensional guide information for real-time missile launching. The method can be directly used by other models, has good universality, can effectively save development expenditure and human resource cost, and can meet the requirements of different missile weapon systems on cross positioning of interference targets.
Drawings
FIG. 1 is a weapon system cross-location flow diagram;
FIG. 2 is a schematic diagram showing the relative positions of two sensors and an object when the projections of the object and the two sensors on the same horizontal plane are not on the same straight line;
fig. 3 is a schematic diagram showing the relative positions of two sensors and an object when the object and the projections of the two sensors on the same horizontal plane are on the same straight line.
Detailed Description
The invention is further illustrated below with reference to the figures and examples.
The method provided by the invention can be applied to an application environment that at least two sensors detect the target. Under the condition that only one target exists in the space, the azimuth angle and the pitch angle of the target can be directly detected by two sensors so as to calculate the space position of the target; when there are multiple targets in the space, it is necessary to pair among multiple groups of detection values, screen out the detection values of two sensors with respect to the same target, and then perform calculation.
The method provided by the present invention is exemplarily explained by taking the second case as an example in conjunction with fig. 1, and the detection value pairing step is omitted in the case of only one target.
The embodiment of the invention provides a target positioning method in an interference environment, which comprises the following steps:
step one, obtaining the coordinates of the site of the sensor, in this embodiment, in the geodetic coordinate system, the positive directions of the x, y and z axes are the east, north and sky directions respectively, and the sensor S1And a sensor S2Respectively is (X)S1,YS1,ZS1)、(XS2,YS2,ZS2)；
Step two, acquiring a sensor detection value (α'1，β'1)、(α'2，β'2) Are respectively a sensor S1And a sensor S2Detection value to target, α'1And α'2Are respectively a sensor S1And a sensor S2Azimuth of detected object β'1And β'2Are respectively a sensor S1And a sensor S2Pitch angle of the detected target. Wherein the azimuth angle is defined as: in the horizontal plane, the rotation is carried out along the counterclockwise direction by the positive direction of the x-axis to the angle formed by the projection line of the target slant distance in the horizontal plane. From the azimuth angle and the elevation angle, an observation ray from the sensor passing through the target can be determined.
If no error exists, the two target observation rays should meet at one point in space; in the presence of errors, the two observation rays may not intersect. And step three, under the condition that more than one target is available, matching the measured data of the two sensors by using the minimum distance correlation to find out the detection values of the two sensors on the same target, specifically,
the vector equation of the target observation ray is as follows:
Figure GDA0002030219460000061
wherein,
Figure GDA0002030219460000062
in order to observe the unit vector for the angle,
riis the distance of the target relative to the sensor,
Figure GDA0002030219460000063
Figure GDA0002030219460000064
then, the distance between two points on the two observation rays is
Figure GDA0002030219460000065
With n targets, calculate n! D of a pair of association hypothesesLOSThe association hypothesis pair with the smallest distance is taken as a correct association, and corresponding probe values are removed from the probe set, considering that they originate from the same target. The above operations are repeated until n correct associations are obtained.
And step four, calculating the space position of the target.
In the geodetic coordinate system, O1、O2Are respectively a sensor S1And a sensor S2The location of the location; t is the position of the target. d. d1Are respectively a sensor S1And a sensor S2The distance between and the projection of said distance in a horizontal plane, R1、R2Is a target relative to the sensor S1And a sensor S2Slope of α1And α2Are respectively a sensor S1And a sensor S2Azimuth of detected object β1And β2Are respectively a sensor S1And a sensor S2Pitch angle of the detected target and pitch angle of the detected target.
In the first case: when the projections of the target and the two sensors on the same horizontal plane are not on the same straight line, the relative positions of the two sensors and the target are shown in fig. 2.
Let S2Altitude ratio of S1High, with S1The horizontal plane is a reference plane and is formed by2Projecting onto a reference plane O3Then, projection T is made from T to the reference plane1And O is2B perpendicular to TT1，O2B is S2The slant range projection of the object in the plane, α is ray O3O1The included angle with the positive direction of the x axis. Due to O1、O2The coordinates in the geodetic coordinate system are known, so d1And α are known.
At Δ T1O3O1Middle, ∠ T1O3O1＝α2-α，∠O3O1T1＝180°-α1+α，∠O1T1O3＝α1-α2
According to the sine theorem, the side length of the projection triangle on the overlooking reference plane can be obtained as follows:
Figure GDA0002030219460000071
Figure GDA0002030219460000072
O3O1＝d1
according to the pitch angles of the two sensors, the target slope distance can be respectively obtained as follows:
Figure GDA0002030219460000073
Figure GDA0002030219460000074
thus, the target T can be obtained as O1And O2The coordinates in the geodetic coordinate system, which is the origin of coordinates, are:
Figure GDA0002030219460000075
Figure GDA0002030219460000081
in the second case, when the projection of the target and the two sensors on the same horizontal plane are on the same straight line, the relative positions of the two sensors and the target are as shown in FIG. 3, at which time α2When viewed from the top of the reference plane, O is α3、T、O1Is in a straight line. At this time, ray O3O1Included angle with positive direction of x-axis
Figure GDA0002030219460000082
According to the sine principle, we can get:
Figure GDA0002030219460000083
Figure GDA0002030219460000084
then the process of the first step is carried out,
Figure GDA0002030219460000085
Figure GDA0002030219460000086
in order to raise accuracy, two sensors can be combined, and the three-dimensional coordinate total positioning error of every combination can be calculated, and the sensor combination with small error can be selected to make positioning, and further research shows that according to the function error calculation formula, α deg. is less than or equal to 40 deg. and its accuracy is high1-α2The positioning error of less than or equal to 160 degrees is smaller, preferably α degrees1-α2The sensor combination closest to 90 degrees is positioned.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.

Claims (4)

1. A target positioning method under an interference environment is characterized in that at least two sensors are adopted to detect a target, and a pitch angle and an azimuth angle of the same target relative to the two sensors are obtained; then projecting the target and the two sensors on the same horizontal plane, and calculating the spatial position of the target according to the sine theorem; under the condition that more than one target is available, according to the principle that the distance between the observation rays of the two sensors to the same target is minimum, pairing is carried out on the measurement data of the sensors, and the detection values of the two sensors from the same target are found out;
under the condition that the number of the sensors is more than 2, the detection values of any two sensors are taken to calculate the space position of the target; or the sensors are combined pairwise, the total positioning error of the three-dimensional coordinates of each combination is calculated, and the sensor combination with small error is selected for positioning.
2. Method for locating objects in a noisy environment according to claim 1, characterized in that a sensor S is used1And S2Detection of the target, d1Distance between two sensors and horizontal distance, α1、α2And β1、β2Are respectively a sensor S1And S2Azimuth and pitch angles relative to the same target; then, when the projections of the two sensors and the target on the same horizontal plane are not on the same line, the target is on the sensor S1And a sensor S2The coordinates in the geodetic coordinate system as origin are:
Figure FDA0002197373230000011
Figure FDA0002197373230000012
3. the method of claim 1, wherein the distance between the two sensors and the observation ray of the target is:
Figure FDA0002197373230000013
wherein,
Figure FDA0002197373230000021
Figure FDA0002197373230000022
in order to observe the unit vector for the angle,
(XS1,YS1,ZS1)、(XS2,YS2,ZS2) Respectively are the coordinates of the site of two sensors under the geodetic coordinate system,
Figure FDA0002197373230000023
Figure FDA0002197373230000024
，(α'1，β'1)、(α'2，β'2) The detection values of the two sensors are respectively.
4. Target positioning method in a noisy environment, according to claim 2, characterized in that 40 ° ≦ α1-α2≤160°。
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CN109407049B (en) * 2018-12-10 2023-10-31 中国电子科技集团公司第十一研究所 Target positioning method and system for full passive detection
CN111693051B (en) * 2020-06-01 2022-04-08 中山大学 Multi-target data association method based on photoelectric sensor
WO2022094962A1 (en) * 2020-11-06 2022-05-12 深圳市大疆创新科技有限公司 Hovering method for unmanned aerial vehicle, unmanned aerial vehicle and storage medium
CN112763974B (en) * 2020-12-17 2024-04-12 深圳先进技术研究院 Sensor deployment method, device and medium in positioning system

Citations (4)

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Publication number Priority date Publication date Assignee Title
CN102175991A (en) * 2011-01-16 2011-09-07 哈尔滨工程大学 Target positioning method based on maximum positioning likelihood sensor configuration
CN102353931A (en) * 2011-09-02 2012-02-15 北京邮电大学 Relative positioning method for spatial object
CN102508198A (en) * 2011-11-29 2012-06-20 西安工程大学 Passive target location method based on maximum likelihood estimation
CN103685483A (en) * 2013-11-29 2014-03-26 中国科学技术大学 Sensor network data association method based on target signal relative position pairing

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102175991A (en) * 2011-01-16 2011-09-07 哈尔滨工程大学 Target positioning method based on maximum positioning likelihood sensor configuration
CN102353931A (en) * 2011-09-02 2012-02-15 北京邮电大学 Relative positioning method for spatial object
CN102508198A (en) * 2011-11-29 2012-06-20 西安工程大学 Passive target location method based on maximum likelihood estimation
CN103685483A (en) * 2013-11-29 2014-03-26 中国科学技术大学 Sensor network data association method based on target signal relative position pairing

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