CN105259564B - A kind of spaceborne and poor amplitude-comparison monopulse DF and location method, apparatus and system - Google Patents
A kind of spaceborne and poor amplitude-comparison monopulse DF and location method, apparatus and system Download PDFInfo
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- CN105259564B CN105259564B CN201510414913.2A CN201510414913A CN105259564B CN 105259564 B CN105259564 B CN 105259564B CN 201510414913 A CN201510414913 A CN 201510414913A CN 105259564 B CN105259564 B CN 105259564B
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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
- 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
- G01S19/42—Determining position
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Abstract
The invention discloses a kind of spaceborne and poor amplitude-comparison monopulse DF and location method, apparatus and system, wherein, described spaceborne and poor amplitude-comparison monopulse DF and location method includes：Monopulse direction finding and radiation source DF and location are modeled as Discrete Nonlinear dynamic system states estimation model；Obtain the Discrete Nonlinear dynamic system states and estimate that the initial value of model and the radiation source that each moment is observed in the motion process of satellite are measured to iterative value；Discrete Nonlinear dynamic system states are modeled as by monopulse direction finding and radiation source DF and location and estimate model and the initial value and iterative value of the acquisition, obtain the radiation source positions and and poor phase difference between channels.The present invention by using nonlinear system filtering method to radiation source positions with and difference phase difference between channels progress estimate at the same time, to improve radiation source/interference source positioning accuracy.
Description
Technical field
The present invention relates to Passive Localization Technology field, more particularly to a kind of spaceborne and poor amplitude-comparison monopulse DF and location side
Method, apparatus and system.
Background technology
Continuous development and application extension with satellite passive location technology, in all kinds of passive location systems, DF and location
It is one of main method of single star location method.In order to improve positioning accuracy, it is necessary to which direction finding precision is continuously improved.All kinds of direction finding bodies
In system, and poor amplitude-comparison monopulse direction finding system has the characteristics that direction finding precision is higher, equipment amount is less.Surveyed with poor amplitude-comparison monopulse
Into system, and poor phase difference between channels can usually calibrate on ground, but entirely possible in the work environment due to temperature, vacuum
The change generation of degree is gradual, is a kind of an important factor for influencing direction finding precision.Traditional single star DF and location method uses simple venation
Rush two steps estimation radiation source positions of direction finding and radiation source DF and location, and have ignored and poor phase difference between channels may caused by
Angle measurement error.Therefore, when with poor passage, there are during larger phase difference, positioning accuracy degradation will be caused.
The content of the invention
In view of the above problems, it is proposed that it is of the invention to overcome the above problem or to solve the above problems at least in part,
The technical proposal of the invention is realized in this way：
On the one hand, the present invention provides a kind of spaceborne and poor amplitude-comparison monopulse DF and location method, including：
Monopulse direction finding and radiation source DF and location are modeled as Discrete Nonlinear dynamic system states estimation model；
Obtain the initial value of Discrete Nonlinear dynamic system states estimation model and in the motion process of satellite it is each
The radiation source that a moment is observed is measured to iterative value；
By monopulse direction finding and radiation source DF and location be modeled as Discrete Nonlinear dynamic system states estimate model with
And the initial value and iterative value of the acquisition, obtain the radiation source positions and and poor phase difference between channels.
Preferably, the Discrete Nonlinear dynamic system states estimation model, using Unscented kalman filtering algorithm iteration
Estimate the radiation source positions and and poor phase difference between channels.
Preferably, the initial value of the Discrete Nonlinear dynamic system states estimation model is estimated using particle filter algorithm
The initial value of Unscented kalman filtering algorithm.
Preferably, the monopulse direction finding is modeled as the estimation of Discrete Nonlinear dynamic system states with radiation source DF and location
Model estimates the radiation source positions and and poor phase difference between channels at the same time.
Preferably, the radiation source state transition model is linear model, and it is nonlinear model that radiation source, which is measured to model,
Type.
On the other hand, the present invention provides a kind of spaceborne and poor amplitude-comparison monopulse DF and location device, including：
Modeling module, for monopulse direction finding and radiation source DF and location to be modeled as Discrete Nonlinear dynamic system states
Estimate model；
Initial value acquisition module, for obtain Discrete Nonlinear dynamic system states estimation model initial value and
The radiation source that each moment is observed in the motion process of satellite is measured to iterative value；
Filter module, for being modeled as Discrete Nonlinear dynamical system shape by monopulse direction finding and radiation source DF and location
State estimates model and the initial value and iterative value of the acquisition, obtains the radiation source positions and and poor phase difference between channels.
Preferably, the Discrete Nonlinear dynamic system states estimation model, using Unscented kalman filtering algorithm iteration
Estimate the radiation source positions and and poor phase difference between channels.
Preferably, the initial value of the Discrete Nonlinear dynamic system states estimation model is estimated using particle filter algorithm
The initial value of Unscented kalman filtering algorithm.
Preferably, the monopulse direction finding is modeled as the estimation of Discrete Nonlinear dynamic system states with radiation source DF and location
Model estimates the radiation source positions and and poor phase difference between channels at the same time；
The radiation source state transition model is linear model, and it is nonlinear model that radiation source, which is measured to model,.
Another further aspect, the present invention provides a kind of spaceborne and poor amplitude-comparison monopulse direction detecting positioning system, including：As described above
Spaceborne and poor amplitude-comparison monopulse DF and location device.
Technical scheme is by using nonlinear system filtering method to radiation source positions and and poor channel phases
Difference estimate at the same time, to improve radiation source/interference source positioning accuracy.
Brief description of the drawings
Fig. 1 is the spaceborne and poor amplitude-comparison monopulse DF and location method flow diagram of one kind provided in an embodiment of the present invention；
Fig. 2 is the spaceborne and poor amplitude-comparison monopulse DF and location apparatus structure schematic diagram of one kind provided in an embodiment of the present invention；
Fig. 3 is the spaceborne and poor amplitude-comparison monopulse direction detecting positioning system structure diagram of one kind provided in an embodiment of the present invention；
Fig. 4 shows for coordinate-system during the spaceborne and poor amplitude-comparison monopulse DF and location of one kind provided in an embodiment of the present invention
It is intended to；
Fig. 5 is the spaceborne and poor amplitude-comparison monopulse DF and location process Satellite of one kind provided in an embodiment of the present invention and radiation
Source relative position relation schematic diagram；
Fig. 6 be the spaceborne and poor amplitude-comparison monopulse DF and location of one kind provided in an embodiment of the present invention during Δ β=15 ° when
The filtering estimation procedure schematic diagram of radiation source positions；
Fig. 7 be the spaceborne and poor amplitude-comparison monopulse DF and location of one kind provided in an embodiment of the present invention during Δ β=15 ° when
Averagely put evaluated error schematic diagram in each moment radiation source position；
Fig. 8 leads to for different and difference during the spaceborne and poor amplitude-comparison monopulse DF and location of one kind provided in an embodiment of the present invention
Mean place evaluated error schematic diagram in the case of road phase difference.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
If Fig. 1 is to show the spaceborne and poor amplitude-comparison monopulse DF and location method flow of one kind provided in an embodiment of the present invention
Figure；The spaceborne and poor amplitude-comparison monopulse DF and location method includes：
101：Monopulse direction finding and radiation source DF and location are modeled as Discrete Nonlinear dynamic system states estimation model；
102：Obtain the initial value of the Discrete Nonlinear dynamic system states estimation model and the motion process in satellite
In the radiation source observed of each moment measure to iterative value；
103：Discrete Nonlinear dynamic system states are modeled as by monopulse direction finding and radiation source DF and location and estimate mould
Type and the initial value and iterative value of the acquisition, obtain the radiation source positions and and poor phase difference between channels.
It should be noted that the Discrete Nonlinear dynamic system states estimation model, is calculated using Unscented kalman filtering
Radiation source positions described in method iterative estimate and and poor phase difference between channels.
It should also be noted that, the initial value of the Discrete Nonlinear dynamic system states estimation model uses particle filter
Algorithm estimates the initial value of Unscented kalman filtering algorithm.
It should also be noted that, the monopulse direction finding is modeled as Discrete Nonlinear dynamical system with radiation source DF and location
State estimation model estimates the radiation source positions and and poor phase difference between channels at the same time.
It should also be noted that, the radiation source state transition model is linear model, and radiation source measures to model and is
Nonlinear model.
Based on above example, as shown in Fig. 2, being surveyed for the spaceborne and poor amplitude-comparison monopulse of one kind provided in an embodiment of the present invention
To positioning device structure schematic diagram；The spaceborne and poor amplitude-comparison monopulse DF and location device includes：
Modeling module 201, for monopulse direction finding and radiation source DF and location to be modeled as Discrete Nonlinear dynamical system
State estimation model；
Initial value acquisition module 202, for obtaining the initial value of the Discrete Nonlinear dynamic system states estimation model
And the radiation source that each moment is observed in the motion process of satellite is measured to iterative value；
Filter module 203, for being modeled as Discrete Nonlinear dynamical system by monopulse direction finding and radiation source DF and location
System state estimation model and the initial value and iterative value of the acquisition, obtain the radiation source positions and and poor channel phases
Difference.
It should be noted that the Discrete Nonlinear dynamic system states estimation model, is calculated using Unscented kalman filtering
Radiation source positions described in method iterative estimate and and poor phase difference between channels.
It should also be noted that, the initial value of the Discrete Nonlinear dynamic system states estimation model uses particle filter
Algorithm estimates the initial value of Unscented kalman filtering algorithm.
It should also be noted that, the monopulse direction finding is modeled as Discrete Nonlinear dynamical system with radiation source DF and location
State estimation model estimates the radiation source positions and and poor phase difference between channels at the same time；
The radiation source state transition model is linear model, and it is nonlinear model that radiation source, which is measured to model,.
The spaceborne and poor amplitude-comparison monopulse DF and location method and device based on more than, carries out operation principle of the present invention detailed
Explanation；
As shown in Figure 2, the effect of the modeling module 201 is to build systematic state transfer equation and measurement equation, if
It is as shown in Figure 4 to define coordinate-system.In Fig. 4, O is tracking system antenna, and P is target, and OA is directed toward for the electrical boresight of antenna, OX ' Y '
For target-based coordinate system (plane where OX ' Y ' is objective plane, and OA is perpendicular to objective plane), OXY is antenna coordinate system, and θ is
The electrical boresight of antenna angle of deviation, α are the angle of OP and trunnion axis OX.
Usual satellite distance radiation source Zd is far (at least more than 500km), generally assumes that satellite to the distance of objective plane
Zd is constant.Using a certain moment satellite position as reference point, at this time coordinate of the radiation source in target-based coordinate system for (xo,
yo).Assuming that another moment k, satellite is (xs (k), ys (k)) relative to the position of reference point, then when with poor channel phases
Amplitude-comparison monopulse direction finding handling result is when difference is 0 °：
In formula (1), z1 (k) and z2 (k) are respectively orientation, pitch deviation level, and k is time tag, and G leads to for known treatment
Road gain constant, w1 (k) and w2 (k) are respectively orientation, pitch deviation level evaluated error, and are had：
w1(k)~N (0, σ2) (2)
w2(k)~N (0, σ2)
In formula (2), N (0, σ2) refer to average as 0, variance σ2Normal distribution.When with poor passage there are during phase difference β,
Then amplitude-comparison monopulse direction finding handling result is：
On the other hand, the State Transferring equation of ground static radiation source is：
X (k+1)=FX (k) (4)
In formula (4),For state vector,Therefore, the positioning of ground static radiation source
Problem can be modeled as nonlinear dynamic system, its state transition equation is respectively with measurement equation：
X (k+1)=FX (k) (5)
Z (k)=H (X (k))+w (k)
In formula (5),The covariance matrix for defining w (k) is R, i.e.,：In addition,
In Fig. 2, the main effect of initial value acquisition module 202 is for state transition equation and measurement equation in formula (5)
Iterative filtering provides initial value.The present invention provides the initial estimate of state vector using particle filter algorithm, and process flow is such as
Under：
Step 1：By p (x0) obtain N number of sampling particleWherein x0For the Initial state estimation vector of target, p
(x0) be target initial state distribution, can be calculated by following formula：
In formula (6), it is vector m that N (m, P), which refers to average, and covariance matrix is the multiple normal distribution of matrix P, z1(1)、z2
(1) measuring value carved at the beginning for radiation source, xs(1)、ys(1) position relative to reference point is carved at the beginning for satellite
Put, p1、p2For the variance of radiation source positions estimation, p2For the variance estimated with poor phase difference between channels.When estimation is uncertain larger
When, larger variance yields is generally set.In addition, definitionFor by p (x0) sample i-th obtained of state estimation vector (usually
Referred to as particle).
Step 2：Calculate weightsAnd it is normalized, i.e.,Wherein wiFor particle i
Weights,ForProduce the probability density function of z (1).
Based on above-mentioned two step, the initial estimate of state vector is：
In Fig. 2, the main function of filter module is the radiation source amount that each moment is observed in the motion process of satellite
Survey z (k) iterative estimate radiation source positions with and difference phase difference between channels, and output radiation source position estimated result.For in formula (5)
Radiation source model, although radiation source state transition model is linear model, and radiation source measurement model is nonlinear model.For
This, the present invention is using Unscented kalman filtering (UKF) algorithm for being suitable for nonlinear filtering estimation.The first step of UKF algorithms is true
Fixed (2nx+1) a Sigma points, wherein nx is the element number in state vector.For the present invention state vector, nx=3.,
Then Sigma points number is 7.Given original state X (0) and its covariance matrix P (0), i-th of Sigma point are：
In formula (8),Refer toJth row, κ for determine Sigma point spreading ranges
Constant.The weight of above-mentioned Sigma points is：
Then, renewal can iteration progress with prediction steps.Wherein prediction steps are：
In formula (10), Q refers to the process noise covariance matrix in radiation source state migration procedure, has Q=0 in the present invention.
Updating step is：
In formula (11)：
Given original state X (0) and its covariance matrix P (0), so that it may according to formula (11) and the amount at (12) and each moment
Survey z (k+1) iterative estimate state vector X (k+1).
It is real that the present invention provides positioning of the spaceborne and poor amplitude-comparison monopulse direction detecting positioning system to ground stationary radiant source
Case is applied to demonstrate the implementation steps of processing system disclosed by the invention and application effect.
In terms of simplicity and without loss of generality, antenna coordinate system is established by coordinate origin of reference point, is radiated at this time
Position of the source in target-based coordinate system is (0,0), the distance Zd=36000Km of satellite to objective plane, filtering time 200s,
Satellite is (- 200+4k, -200+4k) relative to the position of reference point in this period.Satellite and radiation source relative position
The schematic diagram of relation is as shown in Figure 5.
Satellite uses and poor amplitude-comparison monopulse DF and location system, it is assumed that known treatment channel gain constant G=2000, respectively
Kind factor is (such as：Satellite platform is shaken, satellite platform errors in position measurement etc.) caused by orientation, pitch deviation evaluated error be
0.05 °, i.e. σ=2000 × 0.05 °=100 °=100 × π/180rad=1.7453rad.Fig. 6 gives and poor channel phases
The filtering estimation procedure of radiation source positions during poor Δ β=15 °, it is seen that restrained through iterative filtering result X (k+1) after a while
Near radiation source physical location.When Fig. 7 gives Δ β=15 °, 50 samples are in each moment radiation source positions evaluated error
Average, it is seen that generally as the increase of filter times, radiation source positions estimated accuracy are constantly lifted.Fig. 8 give it is different and
In the case of poor phase difference between channels, (50 are respectively calculated using the filtering positioning result of consideration proposed by the present invention and poor phase difference between channels
A sample, takes the filter result at last moment).As a comparison, Fig. 8 gives being averaged for traditional DF and location method
Position estimation error.For comparativity meter, the measurement for 200 moment is equally using UKF algorithms estimation radiation source positions, and institute is not
Same is without considering the phase difference with poor passage.As seen from Figure 8, when with poor phase difference between channels be 0 ° when, traditional method is slightly excellent
In location processing method proposed by the present invention, and with poor passage there are during phase error, localization process side proposed by the present invention
There are significant advantage for method.In addition, in the case of various and poor phase difference between channels, location processing method performance proposed by the present invention is steady
It is fixed.
As shown in figure 3, it is the spaceborne and poor amplitude-comparison monopulse direction detecting positioning system structure of one kind provided in an embodiment of the present invention
Schematic diagram；The spaceborne and poor amplitude-comparison monopulse direction detecting positioning system includes：As above any described spaceborne and poor amplitude-comparison monopulse is surveyed
To positioner.
Technical scheme is by using nonlinear system filtering method to radiation source positions and and poor channel phases
Difference estimate at the same time, to improve radiation source/interference source positioning accuracy.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (9)
- A kind of 1. spaceborne and poor amplitude-comparison monopulse DF and location method, it is characterised in that including：Monopulse direction finding and radiation source DF and location are modeled as Discrete Nonlinear dynamic system states estimation model；Obtain Discrete Nonlinear dynamic system states estimation model initial value and it is each in the motion process of satellite when Carve the radiation source observed and measure iterative value；Discrete Nonlinear dynamic system states are modeled as by monopulse direction finding and radiation source DF and location and estimate model and institute The initial value and iterative value of acquisition are stated, while obtains the radiation source positions and and poor phase difference between channels.
- 2. according to claim 1 spaceborne and poor amplitude-comparison monopulse DF and location method, it is characterised in that described discrete non- Linear dynamic system state estimation model, using Unscented kalman filtering algorithm iteration estimate the radiation source positions with and difference lead to Road phase difference.
- 3. according to claim 2 spaceborne and poor amplitude-comparison monopulse DF and location method, it is characterised in that described discrete non- The initial value of linear dynamic system state estimation model is initial using particle filter algorithm estimation Unscented kalman filtering algorithm Value.
- 4. according to claim 3 spaceborne and poor amplitude-comparison monopulse DF and location method, it is characterised in that radiation source state Metastasis model is linear model, and radiation source measurement model is nonlinear model.
- A kind of 5. spaceborne and poor amplitude-comparison monopulse DF and location device, it is characterised in that including：Modeling module, for monopulse direction finding and radiation source DF and location to be modeled as the estimation of Discrete Nonlinear dynamic system states Model；Initial value acquisition module, for obtaining the initial value of the Discrete Nonlinear dynamic system states estimation model and in satellite Motion process in the radiation source observed of each moment measure iterative value；Filter module, estimates for being modeled as Discrete Nonlinear dynamic system states with radiation source DF and location by monopulse direction finding Model and the initial value and iterative value of the acquisition are counted, while obtains the radiation source positions and and poor phase difference between channels.
- 6. according to claim 5 spaceborne and poor amplitude-comparison monopulse DF and location device, it is characterised in that described discrete non- Linear dynamic system state estimation model, using Unscented kalman filtering algorithm iteration estimate the radiation source positions with and difference lead to Road phase difference.
- 7. according to claim 6 spaceborne and poor amplitude-comparison monopulse DF and location device, it is characterised in that described discrete non- The initial value of linear dynamic system state estimation model is initial using particle filter algorithm estimation Unscented kalman filtering algorithm Value.
- 8. according to claim 7 spaceborne and poor amplitude-comparison monopulse DF and location device, it is characterised in that radiation source state Metastasis model is linear model, and radiation source measurement model is nonlinear model.
- A kind of 9. spaceborne and poor amplitude-comparison monopulse direction detecting positioning system, it is characterised in that including：As any in claim 5 to 8 One described spaceborne and poor amplitude-comparison monopulse DF and location device.
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