CN105137392A - Distributed adaptive direct positioning method under color receiving signal - Google Patents
Distributed adaptive direct positioning method under color receiving signal Download PDFInfo
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- CN105137392A CN105137392A CN201510443554.3A CN201510443554A CN105137392A CN 105137392 A CN105137392 A CN 105137392A CN 201510443554 A CN201510443554 A CN 201510443554A CN 105137392 A CN105137392 A CN 105137392A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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Abstract
The invention belongs to the field of signal processing, and relates to a passive positioning method in signal processing and particularly relates to a distributed adaptive direct positioning method under a color receiving signal in order to solve defects that the existing positioning method is poor in positioning performance in a color receiving signal condition and to improve the positioning performance. A transmitter position estimation value is obtained sequentially through data acquisition, first data exchange, adaptive operation, second data exchange, combination and iteration ending. A new cost function is provided, the method is also applicable in a white signal receiving condition, and performance of the two is equal; no gain control factor is needed, extra gain control factor iteration is not needed during each position iteration process, and the positioning calculation amount is effectively reduced; and in the color receiving signal condition, positioning performance of the positioning method provided by the invention is greatly improved.
Description
Technical field
The invention belongs to field of signal processing, it is related to the passive location method in signal transacting, specially a kind of color receives the direct localization method of distributed self-adaption under signal conditioning.
Background technology
At present, the passive location technology based on the time difference is according to whether calculating time difference value and being divided into two major classes：Two step localization methods and direct localization method.Two step localization methods estimate time difference value in the first step by receiving signal, and second step carries out positioning calculation using the time difference value of estimation.Direct location algorithm need not then calculate time difference value, directly using signal is received, estimate the position of target.In the case where snr of received signal is relatively low, the positioning precision of direct localization method is higher.
Direct localization method can be divided into batch processing method and the class of adaptive approach two again.Batch processing method needs to carry out localization region two dimension or the search of three-dimensional grid type, and amount of calculation is very big, and the ability without target following.Although adaptive method positioning precision is more slightly lower than the method precision of batch processing, the amount of calculation of this method is fewer than the method for batch processing a lot, and possesses the ability of target following.
Adaptive directly localization method is divided into centralized processing method and distributed approach again.Centralized processing method needs all receivers to receive signal to be delivered on some receiver and carry out positions calculations, and this make it that the receiver calculated load is excessive；And centralized processing is typically passed through multi-hop transmission during data transfer, communication cost is larger.Distributed method only needs each receiver that its signal is transferred to the neighbours' receiver of oneself, and communications are all single-hop transmission, and communication cost is low, and in distributed treatment, each receiver is borne by the positions calculations of a part, and the calculating pressure of each receiver is small.
The research of the direct localization method of distributed self-adaption of the time difference is currently based on also in initial stage, domestic and international pertinent literature is less.Inventor is in Publication No. CN104537257A, entitled《A kind of direct localization method of distributed self-adaption based on the time difference》Patent document in propose a kind of direct localization method of the distributed self-adaption based on the time difference, this method is by introducing influence of the adaptive gain controlling elements come Regulate signal noise to positioning performance, but this method is receiving applicable under conditions of signal is white signal；Under conditions of signal chrominance signal is received, adaptive gain controlling elements can not offset the influence that noise is brought well.Therefore, the present invention proposes a kind of direct localization method of distributed self-adaption received in color under signal conditioning, passes through the amendment to cost function so that received in color under signal, lifts positioning performance.
The content of the invention
It is an object of the invention to receive the direct localization method of distributed self-adaption under signal there is provided a kind of color in the defect that color receives positioning performance difference under signal conditioning for background technology, to improve positioning performance.
Technical scheme：A kind of color receives the direct localization method of distributed self-adaption under signal, comprises the following steps：
Step 1：Gathered data, the signal of M receiver receiver/transmitter transmitting simultaneously, and signal is demodulated, sampled, discrete baseband receiving signals are obtained, the sample of signal point that wherein n receptions machine i is received is expressed as：
xi[n]=s [n- τt,i/Ts]+qi[n], i=1,2 ..., M
Wherein, s [n] represents the discrete baseband transmission signal of emitter, qi[n] represents that zero-mean power isAdditive white Gaussian noise, TsRepresent sampling period, τt,iRepresent that transmission signal, from the propagation delay time between transmitted from transmitter to receiver i, is expressed as：
τt,i=| | pe-pr,i| |/c, i=1,2 ..., M
Wherein, peRepresent the position vector of emitter, pr,iReceiver i position vector is represented, constant c represents the spread speed of electromagnetic wave signal；
It should be noted that the moment of each in the present invention represents iteration once, the n moment is to represent nth iteration；
Step 2：First time data exchange, the discrete baseband receiving signals that each receiver receives itself are transmitted to neighbours' receiver (neighbours' receiver represents the receiver being joined directly together), while receiving the discrete baseband signal that neighbours' receiver is transmitted through coming；
Step 3：Adaptive computing, each receiver is calculated
Wherein,Represent transmitter site estimate, the initial value of receiver i nth iterationsμiFor iteration step length；Represent the local cost function on receiver i：
The set of receiver i neighbours' receiver is represented,The set of neighbours' receiver all in addition to receiver i itself is represented,And ei,j[n] is referred to as error function, and it is signal xiThe difference that [n] is exported with filtering wave by prolonging time device, is expressed as：
The weight vector of filtering wave by prolonging time device is represented, filtering wave by prolonging time device is the FIR filter of 2K+1 ranks, is expressed as：
Wherein,TsFor the sampling period,The time difference value between n reception machine i and receiver j is represented, is expressed as：
uj[n] represents the input signal of filtering wave by prolonging time device, is：
uj[n]=[xj[n+K],…,xj[n],…,xj[n-K]]Τ,
Step 4：Second of data exchange：Each receiver obtains respective adaptive polo placementThe neighbours' receiver of oneself is transferred to, while receiving the result of calculation that neighbours' receiver is transmitted；
Step 5：With reference to each receiver is calculated
Wherein, al,iFor associate(d) matrix A element, associate(d) matrix A meets following condition：
1ΤA=1Τ
Step 6：WhenWhen the difference of the iterative estimate value of continuous 100 times is respectively less than given threshold δ,
Terminate iteration, that is, obtain the position estimation value of emitter.
The present invention is by proposing new cost function, the direct localization method of distributed self-adaption under color reception signal is provided, this method is compared to a kind of direct localization method of distributed self-adaption based on the time difference disclosed in background technology Patent Literature, and it is distinguished and advantage is：The present invention is equally applicable under white signal condition of acceptance, and both performances are suitable；Meanwhile, extra gain controlling elements iteration need not be carried out during gain controlling elements, each position iteration are not needed in the present invention, location Calculation amount is effectively reduced；And under chrominance signal condition of acceptance, the present invention provides localization method positioning performance and greatly improved.
Brief description of the drawings
Fig. 1 is distributed self-adaption localization method works schematic flow sheet of the present invention.
Fig. 2 is the exemplary plot that receiver network of the embodiment of the present invention is laid out.
Fig. 3 is that mean square error of the inventive method with existing method under the conditions of white signal is compared figure.
Fig. 4 is that mean square error of the inventive method with existing method under the conditions of chrominance signal is compared figure.
Embodiment
The present invention is further detailed explanation with embodiment below in conjunction with the accompanying drawings.
It is distributed self-adaption localization method works schematic flow sheet of the present invention as shown in Figure 1, the derivation of the direct localization method of distributed self-adaption is in the present invention：Initially set up the baseband discrete-time signal model for receiving signal；Then according to the new cost function of the proposition of signal model；Finally cost function is minimized with distributed self-adaption LMS algorithm, new centralized adaptive direct localization method is derived；Its specific derivation step is as follows：
Step 1：The baseband discrete-time signal model of emitter and receiver is set up,
Assuming that have the receiver that M space separates, the signal x that each receiver is receivedi[n] is represented by：
xi[n]=s [n- τt,i/Ts]+qi[n], i=1,2 ..., M (1)
Wherein, s [n] represents the discrete baseband transmission signal of emitter, qi[n] represents that zero-mean power isAdditive white Gaussian noise, TsRepresent sampling period, τt,iRepresent that transmission signal, from emitter to the propagation delay time i-th of receiver, is expressed as：
τt,i=| | pe-pr,i| |/c, i=1,2 ..., M (2)
Wherein, peRepresent the position vector of emitter, pr,iThe position vector of each receiver is represented, constant c represents the spread speed of electromagnetic wave signal；
Step 2：According to the new cost function of the proposition of signal model；
Propose global cost function
WhereinThe local cost function on each receiver is represented, is：
E in formula (4)i,j[n] is referred to as error function, and it is signal xiThe difference that [n] is exported with filtering wave by prolonging time device, is expressed as：
For the FIR filtering wave by prolonging time devices of 2K+1 ranks, it is expressed as：
Each weights of wave filter in formula (6) are represented by
Wherein TDOA estimation valueFor
The input vector u of formula (5) median filterj[n] is to be expressed as：
uj[n]=[xj[n+K],…,xj[n],…,xj[n-K]]Τ(9)
(8) in formulaThe transmitter site estimate that receiver i nth iteration computings are obtained is represented, in (5) in (3) (4) two formulaThe set (including receiver i itself) of receiver i neighbours' receiver is represented,Represent in addition to receiver i itself, all neighbours' receivers；
Step 3：With distributed self-adaption LMS algorithm, the direct localization method of distributed self-adaption is shifted onto：
Derivative operation in formula (10) is specific as follows：
And each cumulative item in (12) formula is represented by：
In formula (13)
Function f (v) in formula (14) (15) is expressed as follows：
It is expressed as：
A kind of color receives the direct localization method of distributed self-adaption under signal in the present embodiment, comprises the following steps：
Step 1. is initialized：Each receiver carries out initialization preparation, the initial value of setting position iterationAnd position iteration step length μi.
Step 2. gathered data：Each receiver starts simultaneously at the signal of receiver/transmitter transmitting, and signal is demodulated, and samples, obtains the discrete reception signal x of base bandi[n], i=1,2 ..., M；
Step 3. first time data exchange：The discrete baseband signal that each receiver receives itself is transmitted to neighbours' receiver, while receiving the discrete baseband signal that neighbours' receiver is transmitted through coming, neighbours' receiver represents the receiver being joined directly together with receiver；
The adaptive computing of step 4.：Each receiver is calculated according to formula (10) and correlation formula
Second of data exchange of step 5.：Itself is calculated what is obtained by each receiverThe neighbours' receiver of oneself is transferred to, while receiving the result that neighbours' receiver is transmitted；
Step 6. is combined：Each receiver is calculated according to formula (11)
Step 7. jumps to the circulation of 2. continuation 2-6 steps, whenWhen the difference of the iterative value of continuous 100 times is respectively less than given threshold δ, that is, think to have obtained the position estimation value of emitter.
It is illustrated in figure 2 the exemplary plot of the present embodiment receiver network layout；Have 10 receivers and an emitter is distributed in 8000m × 8000m region, emitter outwardly transmission signal, receiver receives signal, by the signal received, adaptive mode estimates the position of emitter in a distributed manner；Two receivers that solid line is joined directly together in figure mutually claim neighbours' receiver.
The present invention and the comparison of positioning performance (mean square error) of the existing method under the conditions of white signal are illustrated in figure 3, as seen from the figure, the method provided by the present invention is suitable with existing method performance, i.e., it is suitable for white noise sound reception signal conditioning.
It is illustrated in figure 4 the present invention and the comparison of positioning performance (mean square error) of the existing method under the conditions of chrominance signal, as seen from the figure, the positioning performance of the method provided by the present invention than existing methods is significantly improved, it is seen that the method provided by the present invention more can be suitably used for the positioning that color receives signal.
The foregoing is only a specific embodiment of the invention, any feature disclosed in this specification, unless specifically stated otherwise, can alternative features equivalent by other or with similar purpose replaced；Disclosed all features or all methods or during the step of, in addition to mutually exclusive feature and/or step, can be combined in any way.
Claims (1)
1. a kind of color receives the direct localization method of distributed self-adaption under signal, comprise the following steps：
Step 1：Gathered data, the signal of M receiver receiver/transmitter transmitting simultaneously, and be demodulated, sample to signal obtains discrete baseband receiving signals, wherein receiver i n receptions to sample of signal point be expressed as：
xi[n]=s [n- τt,i/Ts]+qi[n], i=1,2 ..., M
Wherein, s [n] represents the discrete baseband transmission signal of emitter, qi[n] represents that zero-mean power isAdditive white Gaussian noise, TsRepresent sampling period, τt,iRepresent transmission signal from the propagation delay time between transmitted from transmitter to receiver i：
τt,i=| | pe-pr,i| |/c, i=1,2 ..., M
Wherein, peRepresent the position vector of emitter, pr,iReceiver i position vector is represented, constant c represents the spread speed of electromagnetic wave signal；
Step 2：First time data exchange, the discrete baseband receiving signals that each receiver receives itself are transmitted to neighbours' receiver, while receiving the discrete baseband signal that neighbours' receiver is transmitted through coming；
Step 3：Adaptive computing, each receiver is calculated
Wherein,Represent transmitter site estimates of the receiver i at the n moment, initial valueμiFor iteration step length；Represent the local cost function on receiver i：
The set of receiver i neighbours' receiver is represented,The set of neighbours' receiver all in addition to receiver i itself is represented,And ei,j[n] is referred to as error function, and it is signal xiThe difference that [n] is exported with filtering wave by prolonging time device：
The weight vector of filtering wave by prolonging time device is represented, filtering wave by prolonging time device is the FIR filter of 2K+1 ranks：
Wherein,k∈[-K,K]、TsFor the sampling period,Represent the time difference value between n reception machine i and receiver j：
uj[n] represents the input signal of filtering wave by prolonging time device：
uj[n]=[xj[n+K],…,xj[n],…,xj[n-K]]Τ,
Step 4：Second of data exchange：Each receiver obtains respective adaptive polo placementThe neighbours' receiver of oneself is transferred to, while receiving the result of calculation that neighbours' receiver is transmitted；
Step 5：With reference to each receiver is calculated
Wherein, al,iFor associate(d) matrix A element, associate(d) matrix A meets following condition：
1ΤA=1Τ
Step 6：WhenWhen the difference of the iterative estimate value of continuous 100 times is respectively less than given threshold δ,
Terminate iteration, that is, obtain the position estimation value of emitter.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105807257A (en) * | 2016-03-17 | 2016-07-27 | 电子科技大学 | Distributive self-adaption direct positioning method with noise constraint |
| CN106792982A (en) * | 2017-03-23 | 2017-05-31 | 电子科技大学 | A kind of direct localization method of multiple target based on self adaptation clustering algorithm |
| CN108828568A (en) * | 2018-07-19 | 2018-11-16 | 中国人民解放军战略支援部队信息工程大学 | A kind of direct localization method and system of single moving observer |
| CN109671100A (en) * | 2018-11-30 | 2019-04-23 | 电子科技大学 | A kind of distributed variable diffusion direct tracking of combination coefficient particle filter |
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| CN203786789U (en) * | 2014-04-30 | 2014-08-20 | 海军大连舰艇学院 | Comprehensive radar information recording device |
| CN104537257A (en) * | 2015-01-12 | 2015-04-22 | 电子科技大学 | Distributed self-adaptation direct positioning method based on time difference |
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Patent Citations (4)
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| CN101285877A (en) * | 2007-04-13 | 2008-10-15 | 株式会社Ntt都科摩 | Positioning system, positioning ic chip, positioning method and positioning program |
| US20140206381A1 (en) * | 2011-10-31 | 2014-07-24 | Panasonic Corporation | Position estimation device, position estimation method, program, and integrated circuit |
| CN203786789U (en) * | 2014-04-30 | 2014-08-20 | 海军大连舰艇学院 | Comprehensive radar information recording device |
| CN104537257A (en) * | 2015-01-12 | 2015-04-22 | 电子科技大学 | Distributed self-adaptation direct positioning method based on time difference |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105807257A (en) * | 2016-03-17 | 2016-07-27 | 电子科技大学 | Distributive self-adaption direct positioning method with noise constraint |
| CN105807257B (en) * | 2016-03-17 | 2018-05-18 | 电子科技大学 | A kind of direct localization method of the distributed self-adaption with noise constraints |
| CN106792982A (en) * | 2017-03-23 | 2017-05-31 | 电子科技大学 | A kind of direct localization method of multiple target based on self adaptation clustering algorithm |
| CN106792982B (en) * | 2017-03-23 | 2019-12-10 | 电子科技大学 | Multi-target direct positioning method based on self-adaptive clustering strategy |
| CN108828568A (en) * | 2018-07-19 | 2018-11-16 | 中国人民解放军战略支援部队信息工程大学 | A kind of direct localization method and system of single moving observer |
| CN109671100A (en) * | 2018-11-30 | 2019-04-23 | 电子科技大学 | A kind of distributed variable diffusion direct tracking of combination coefficient particle filter |
| CN109671100B (en) * | 2018-11-30 | 2020-09-25 | 电子科技大学 | Distributed variable diffusion combined coefficient particle filter direct tracking method |
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