CN105717480B - The passive method for rapidly positioning in list station based on phase difference - Google Patents
The passive method for rapidly positioning in list station based on phase difference Download PDFInfo
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- CN105717480B CN105717480B CN201610048469.1A CN201610048469A CN105717480B CN 105717480 B CN105717480 B CN 105717480B CN 201610048469 A CN201610048469 A CN 201610048469A CN 105717480 B CN105717480 B CN 105717480B
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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
Abstract
The invention discloses a kind of passive method for rapidly positioning in list station based on phase difference, mainly solves the problems, such as the prior art to radiation source correlation is under-utilized, positioning accuracy is relatively low, positioning time is long.Implementation step is：Baseband signal is obtained, and it is accumulated, obtains baseband signal string；Matched filtering is carried out to baseband signal string and more times of interpolation are carried out to matched filtering result, extracts peak value sampling complex signal；Phase difference is carried out to peak value sampling complex signal, estimates optimal frequency modulation rate；Phase compensation is carried out using optimal frequency modulation rate peak value sampling complex signal；Fourier transformation is carried out to the signal after compensation, obtains high-precision direction finding result；According to high-precision direction finding as a result, calculating radiation source distance, and then obtain radiation source positions.The concept of synthetic aperture radar is applied to by the present invention scouts positioning aspect, has the advantages of positioning accuracy is high, and positioning time is short, is positioned available for target reconnaissance and interference source.
Description
Technical field
The invention belongs to signal processing technology field, more particularly to a kind of passive location method, is scouted available for single station.
Background technology
Passive location refers to that either multiple reconnaissance equipments are detecting scattering source or radiation source simultaneously by single reconnaissance equipment
On the basis of obtaining related positional parameter, using appropriate data processing means, determine scattering source or radiation source in three-dimensional space
Between in position.
Passive location can simply be divided into multistation location and mono-station location.Multistation location is by being deployed in diverse geographic location
The target emanation signal that receives of website carry out the fusion of signal rank or data-level, so as to achieve the purpose that positioning.
Using wider in communication equipment positioning；And often wave beam is relatively narrow for transmitting radar antenna, it is difficult to ensure that multiple receiving stations can receive
To echo signal, while the Time Synchronization Mechanism of multistation requires equipment complicated, and mono-station location is due to almost without the above problem,
Thus extensive concern is obtained.
Single passive location passively receives emitter Signals by single observation platform and completes target positioning, is to obtain target
The important means of positional information, has been applied to the monitoring of important goal position, emergency resuce, intelligent transportation and anti-terrorism stability maintenance etc.
Field.Mono-station location maximum feature compared with multistation location is an only observation platform, and equipment is simple, deployment is flexible, motor-driven
Performance is strong, therefore has played important function in terms of the multi-motion platform target positioning such as spaceborne, airborne, carrier-borne.
The research of mono-station location method at present, including the positioning of DF and location, reaching time-difference, Doppler frequency and its change
Rate positioning, phase difference and its change rate positioning and combinations of the above positioning mode etc..Wherein, Algorithm for Doppler Frequency Rate-of-Change positioning and
Phase change rate positioning is more common, and both approaches are employed such as including newton to improve target locating ability
The particle filter method etc. of alternative manner, Kalman filtering and its extended method, Bayesian Estimation theory.Start within 2004, anticipate
Big profit realizes doppler changing rate positioning experiment on helicopter using double antenna.This method places 2 interference in aircraft both sides
Instrument antenna, is positioned using its frequency level difference measurements.Experimental result shows the optimum position of this method in bilateral strabismus angle ± 45
At degree, other positions will decline；In orientation distance about 5km, position under 35 seconds time conditions, target location error will exceed
10%.
Above-mentioned mono-station location method is all that make use of the nonlinear change characteristic of target and reconnaissance equipment change in location, is adopted
The estimation of target location is realized with noncoherent accumulation method.But with the development of modern radar technology, the radio frequency of radar
Source stability is significantly improved；Radar can all have the longer signal stabilization phase, detect under imaging, space time processing isotype
The coherence for examining acquisition signal is remarkably reinforced.Conventional mono-station location method cannot effectively using signal correlation, it is necessary to
Very long integration time.
The content of the invention
It is an object of the invention to the deficiency for above-mentioned prior art, proposes that a kind of list station based on phase difference is passive
Method for rapidly positioning, to reduce operand, improves positioning accuracy, realizes fast positioning.
The technology of the present invention thinking is that the correlation technique of synthetic aperture imaging radar is applied to scouting field, utilizes radiation
Long time integration signal-virtual, is synthesized long aerial array by the coherence in source, it is unsatisfactory for far field condition, i.e. antenna array
The quadratic phase of row can not be ignored；The quadratic phase that this be can not ignore is estimated using phase difference, and then is utilized secondary
The inverse relation of phase and radiation source distance realizes the estimation to radiant source target position.Implementation step includes as follows：
(1) reconnaissance equipment does linear uniform motion, and the docking collection of letters number carries out instantaneous frequency measurement and a direction finding, obtains frequency measurement result
With direction finding resultAnd utilize frequency measurement resultCarry out mixing and eliminate carrier frequency, obtain baseband signal ur(t)；
(2) to baseband signal ur(t) accumulated, obtain the baseband signal of one group of accumulation：
ur1(t),ur2(t),…uri(t)…urn(t), i=1,2,3 ... n,
Wherein, n represents accumulation pulse total number；
(3) matched filtering is carried out to the baseband signal of accumulation：
(3a) selects one of be used as to refer to signal u in the baseband signal of accumulationr0(t)；
(3b) is by reference signal ur0(t) convolution is carried out with all accumulation pulse signals, obtains one group of convolution results u1(t),
u2(t),…ui(t)…un(t)；
(4) to each convolution results ui(t) more times of interpolation are carried out, obtain sampled signal vi(t), interpolation result v is extractedi(t)
Sampled complex uu at peak valuei(t), peak value sampling complex signal matrix is obtained：
M=[uu1(t),uu2(t),…uui(t)…uun(t)]；
(5) phase difference is carried out to peak value sampling complex signal matrix M, estimates optimal frequency modulation rate
The preceding n-m element of (5a) extraction peak value sampling complex signal matrix M forms matrix M before peak value1, extract peak value sampling
The rear n-m element of complex signal matrix M forms matrix M after peak value2, wherein, m represents peak value sampling submatrix M2Relative peak is adopted
Appearance matrix M1The pulse period number of delay, M1=[uu1(t),…uui(t)…uun-m(t)], M2=[uum+1(t)…uui
(t)…uun(t)], by M1With M2Conjugate multiplication, obtains phase difference matrix X；
(5b) carries out chirp-z transform to phase difference matrix X and obtains phase difference frequency fk, wherein, linear frequency modulation z
The radius length A of the starting sample point of conversion01 is taken, the percentage of elongation W of helix0Take 1；
(5c) utilizes phase difference frequency fkWith matrix M after peak value2Matrix M before relative peak1The pulse period number of delay
M, estimates optimal frequency modulation rate
Wherein, TpriRepresent the Emitter pulse repetition period；
(6) according to optimal frequency modulation rateSignal matrix M after being compensatedc：
(6a) utilizes optimal frequency modulation rateBuild thermal compensation signal matrix H=[h (η1),h(η2)…h(ηi)…h(ηn)], its
In, h (ηi) it is thermal compensation signal, ηi=iTpri, ηiRepresent Emitter pulse arrival time；
Thermal compensation signal matrix H and peak value sampling complex signal matrix M are carried out dot product by (6b), are eliminated peak value sampling complex signal and are closed
In the quadratic phase of time, the signal matrix after being compensated：
Mc=[uu1(t)h(η1),…uui(t)h(ηi)…uun(t)h(ηn)]；
(7) to the signal matrix M after compensationcCarry out Fourier transformation and obtain Doppler frequencyCalculate high-precision survey
To result
(8) high-precision direction finding result is utilizedCalculate the distance of radiation source and reconnaissance equipment
(9) the direction finding result of combined high precisionWith the distance of radiation source and reconnaissance equipmentObtain radiation source positions.
The present invention has the following advantages compared with prior art：
First, relative to traditional radar fix method, present invention utilizes the coherence of radiation source, when shortening positioning
Between, it is possible to achieve fast positioning；
Second, the principle of synthetic aperture radar is applied in radar fix, the signal-virtual of long time integration is synthesized
Long aerial array, realizes the accurate angle measurement to target；
3rd, far field condition is unsatisfactory for using virtual long aerial array, i.e. the quadratic phase of aerial array can not be ignored
Characteristic, obtains distance parameter by the method for phase difference, improves positioning accuracy.
Brief description of the drawings
Fig. 1 be the present invention realize flow chart；
Fig. 2 is the position error figure of the present invention；
Fig. 3 is positioning time of the method for the present invention under different base line conditions.
Embodiment
Further detailed description is done to the present invention below in conjunction with the accompanying drawings.
It is as follows with reference to Fig. 1, specific implementation step of the invention：
Step 1, obtain baseband signal.
The present invention is carried out instantaneous frequency measurement and a direction finding, is obtained using the reconnaissance equipment for doing linear uniform motion, the docking collection of letters number
Frequency measurement resultWith direction finding resultAnd utilize frequency measurement resultCarry out mixing and eliminate carrier frequency, obtain baseband signal ur(t), frequency measurement
Error requirements are relatively low, less than 1MHz.
Step 2, accumulation baseband signal.
To baseband signal ur(t) accumulated, i.e., the baseband signal being often once mixed is stored, and is added up
To one group of baseband signal：
ur1(t),ur2(t),…uri(t)…urn(t), i=1,2,3 ... n
Wherein, n represents accumulation pulse total number.
Step 3, the baseband signal to accumulation carry out matched filtering.
Any one conduct therein is selected to refer to signal u in the baseband signal of accumulationr0(t), by reference signal ur0
(t) with the signal u of all accumulationr1(t),ur2(t),…uri(t)…urn(t) convolution is done respectively, obtains matched filtering result：
u1(t),u2(t),…ui(t)…un(t)
Step 4, more times of interpolation, extract peak value sampling complex signal.
(4a) is to each convolution results ui(t) Fourier transformation is carried out respectively, by convolution results ui(t) frequency domain is transformed into, and
Heart insertion (K-1) N in a frequency domainfA zero, the frequency-region signal after interpolation is obtained, wherein, NfFor the data after Fourier transformation
Number, K are interpolation multiple, and value is 2 integral number power, this example K takes 8；
(4b) carries out inverse Fourier transform to the frequency-region signal after interpolation, and signal is returned to time domain, obtains sampled signal
vi(t)；Record sampled result vi(t) time t during peak value is reachedmax, extraction time tmaxCorresponding peak value sampling complex signal uui
(t)=vi(tmax)；
(4c) is to all convolution results u1(t),u2(t),…ui(t)…un(t) (4a)-(4b) processing is carried out, obtains one
Group peak value sampling complex signal：uu1(t),uu2(t),…uui(t)…uun(t), peak value sampling complex signal matrix M=[uu are formed1
(t),uu2(t),…uui(t)…uun(t)]。
Step 5, carry out phase difference to peak value sampling complex signal matrix M, estimates optimal frequency modulation rate
(5a) structure peak value sampling submatrix M1And M2, M1With M2Conjugate multiplication, obtains phase difference matrix X, wherein, M1=
[uu1(t),…uui(t)…uun-m(t)], M2=[uum+1(t)…uui(t)…uun(t)], m represents peak value sampling submatrix M2
Relative peak sampling submatrix M1The pulse period number of delay.
(5b) carries out chirp-z transform to phase difference matrix X and obtains phase difference frequency fk.Wherein, linear frequency modulation z
The radius length A of the starting sample point of conversion01 is taken, the percentage of elongation W of helix0Take 1；
(5c) utilizes phase difference frequency fkWith peak value sampling submatrix M2Relative peak sampling submatrix M1The pulse of delay
Number of cycles m, estimates optimal frequency modulation rate
Wherein, TpriRepresent the Emitter pulse repetition period.
Step 6, according to optimal frequency modulation rateSignal matrix M after being compensatedc。
(6a) is according to optimal frequency modulation rateWith Emitter pulse arrival time ηi, thermal compensation signal h (η are constructed according to the following formulai)：
Wherein, ηi=iTpri, represent Emitter pulse arrival time；
(6b) uses n thermal compensation signal h (η1),h(η2)…h(ηi)…h(ηn), form thermal compensation signal matrix：
H=[h (η1),h(η2)…h(ηi)…h(ηn)]；
Thermal compensation signal matrix H and peak value sampling complex signal matrix M are carried out dot product by (6c), eliminate all peak value sampling letter in replys
Quadratic phase number on the time, the signal matrix after being compensated：
Mc=[uu1(t)h(η1),…uui(t)h(ηi)…uun(t)h(ηn)]。
Step 7, carry out high-precision direction finding.
To the signal matrix M after compensationcCarry out Fourier transformation and obtain Doppler frequencyUtilize Doppler frequency
Obtaining high-precision direction finding result is：
Wherein, λ is the wavelength for receiving signal, and v is reconnaissance equipment movement velocity.
If as the periodicity of cosine, when there is phase ambiguity, then the direction finding result that is obtained using step 1Ambiguity solution.
Distance between step 8, calculating radiation source and reconnaissance equipment.
Utilize high-precision direction finding resultReconnaissance equipment movement velocity v, the wavelength X for receiving signal and optimal frequency modulation rateThe distance for calculating radiation source and reconnaissance equipment is：
Step 9, complete positioning.
The direction finding result of combined high precisionWith the distance of radiation source and reconnaissance equipmentRadiation source positions are obtained, are completed
Positioning.
The effect of the present invention can be expanded on further by following emulation.
1. simulated conditions：
Condition 1：Emulation setting radiation source is operated in X-band, wavelength 0.03m, signal bandwidth 10MHz, pulse width
For 10 μ s, pulse repetition is 1KHz, and for radiation source apart from reconnaissance equipment 200km, angle of arrival is 45 degree.Angle measurement accuracy is 0.01 degree,
Frequency-measurement accuracy is 1MHz.Reconnaissance equipment speed is 300m/s, and reconnaissance time is 0.5 second.Impulse time delay 200, i.e., 0.2 second.Line
Property frequency modulation z-transform initial frequency 0Hz, terminate frequency 10Hz, resolution ratio 0.01Hz.
Condition 2：Emulation setting radiation source is operated in X-band, wavelength 0.03m, signal bandwidth 10MHz, pulse width
For 10 μ s, pulse repetition is 1KHz, and for radiation source apart from reconnaissance equipment 200km, angle of arrival is 0 degree.Angle measurement accuracy is 0.01 degree, is surveyed
Frequency precision is 1MHz.Reconnaissance equipment speed is 300m/s, and reconnaissance time is 0.5 second.Impulse time delay 200, i.e., 0.2 second.Linearly
The initial frequency 0Hz of frequency modulation z-transform, terminates frequency 10Hz, resolution ratio 0.01Hz.
2. emulation content：
Emulation 1：Under condition 1, using the present invention under different signal-to-noise ratio, the Distance positioning error of reconnaissance equipment is emulated,
100 Monte-Carlo Simulation experiments are carried out under each signal-to-noise ratio, the results are shown in Figure 2.
Emulation 2：Under condition 2, the present invention is compared the positioning time under different base line conditions, as a result such as Fig. 3
It is shown.
3. simulation analysis：
Figure it is seen that with the lifting of signal-to-noise ratio, Distance positioning error declines.Scouting receiving terminal signal-to-noise ratio is about
10dB, is tested, Distance positioning error drops to 0.04% or so by 100 Monte-Carlo Simulations.Modern radar signal-to-noise ratio can change
It is apt to 10dB~20dB, is tested by 100 Monte-Carlo Simulations, Distance positioning error can drop to less than 0.04%, improve
Positioning accuracy.
From figure 3, it can be seen that baseline length is smaller, required integration time is longer.When baseline length reaches 30 meters, even if
Apart from reconnaissance equipment 300km, time of measuring only needs about 2 seconds radiation source, meets the needs of fast positioning.
Claims (5)
1. a kind of passive method for rapidly positioning in list station based on phase difference, includes the following steps：
(1) reconnaissance equipment does linear uniform motion, and the docking collection of letters number carries out instantaneous frequency measurement and a direction finding, obtains frequency measurement resultAnd survey
To resultAnd utilize frequency measurement resultCarry out mixing and eliminate carrier frequency, obtain baseband signal ur(t)；
(2) to baseband signal ur(t) accumulated, obtain the baseband signal of one group of accumulation：
ur1(t),ur2(t),…uri(t)…urn(t), i=1,2,3 ... n,
Wherein, n represents accumulation pulse total number；
(3) matched filtering is carried out to the baseband signal of accumulation：
(3a) selects one of be used as to refer to signal u in the baseband signal of accumulationr0(t)；
(3b) is by reference signal ur0(t) convolution is carried out with all accumulation pulse signals, obtains one group of convolution results u1(t),u2
(t),…ui(t)…un(t)；
(4) to each convolution results ui(t) more times of interpolation are carried out, obtain interpolation result vi(t), interpolation result v is extractedi(t) peak value
The sampled complex uu at placei(t), peak value sampling complex signal matrix is obtained：
M=[uu1(t),uu2(t),…uui(t)…uun(t)]；
(5) phase difference is carried out to peak value sampling complex signal matrix M, estimates optimal frequency modulation rate
(5a) extracts the preceding n-m element of peak value sampling complex signal matrix M and rear n-m element respectively, forms matrix M before peak value1
With matrix M after peak value2, wherein, m represents matrix M after peak value2Matrix M before relative peak1The pulse period number of delay, M1=
[uu1(t),…uui(t)…uun-m(t)], M2=[uum+1(t)…uui(t)…uun(t)], then by M1With M2Conjugate multiplication, obtains
To phase difference matrix X；
(5b) carries out chirp-z transform to phase difference matrix X and obtains phase difference frequency fk, wherein, chirp-z transform
Starting sample point radius length A01 is taken, the percentage of elongation W of helix0Take 1；
(5c) utilizes phase difference frequency fkWith matrix M after peak value2Matrix M before relative peak1The pulse period number m of delay, estimates
Count optimal frequency modulation rate
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Wherein, TpriRepresent the Emitter pulse repetition period；
(6) according to optimal frequency modulation rateSignal matrix M after being compensatedc：
(6a) utilizes optimal frequency modulation rateBuild thermal compensation signal matrix H=[h (η1),h(η2)…h(ηi)…h(ηn)], wherein, h
(ηi) it is thermal compensation signal, ηi=iTpri, ηiRepresent Emitter pulse arrival time；
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Quadratic phase number on the time, the signal matrix after being compensated：
Mc=[uu1(t)h(η1),…uui(t)h(ηi)…uun(t)h(ηn)]；
(7) to the signal matrix M after compensationcCarry out Fourier transformation and obtain Doppler frequencyCalculate high-precision direction finding result
(8) high-precision direction finding result is utilizedCalculate the distance of radiation source and reconnaissance equipment
(9) the direction finding result of combined high precisionWith the distance of radiation source and reconnaissance equipmentObtain radiation source positions.
2. the list station passive method for rapidly positioning according to claim 1 based on phase difference, it is characterised in that the step
Suddenly to each convolution results u in (4)i(t) more times of interpolation are carried out, are carried out as follows：
(4a) is to convolution results ui(t) Fourier transformation is carried out, by convolution results ui(t) it is transformed into frequency domain；
(4b) heart is inserted into (K-1) N in a frequency domainfA zero, obtain the frequency-region signal after interpolation, wherein NfAfter Fourier transformation
Data amount check, K are interpolation multiple, and value is 2 integral number power, and K values are more than 1；
(4c) carries out inverse Fourier transform to the frequency-region signal after interpolation, and signal is returned to time domain, obtains sampled signal vi(t)。
3. the list station passive method for rapidly positioning according to claim 1 based on phase difference, it is characterised in that the step
Suddenly optimal frequency modulation rate is utilized in (6a)Thermal compensation signal matrix H is built, is carried out as follows：
(6a1) is according to optimal frequency modulation rateWith Emitter pulse arrival time ηi, thermal compensation signal h (η are constructed according to the following formulai)：
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(6a2) uses n thermal compensation signal h (η1),h(η2)…h(ηi)…h(ηn), build thermal compensation signal matrix：
H=[h (η1),h(η2)…h(ηi)…h(ηn)]。
4. the list station passive method for rapidly positioning according to claim 1 based on phase difference, it is characterised in that the step
Suddenly Doppler frequency is utilized in (7)Calculate high-precision direction finding resultCalculated by following formula：
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Wherein, λ is the wavelength for receiving signal, and v is reconnaissance equipment movement velocity.
5. the list station passive method for rapidly positioning according to claim 1 based on phase difference, it is characterised in that the step
Suddenly high-precision direction finding result is utilized in (8)Reconnaissance equipment movement velocity v, the wavelength X for receiving signal and optimal frequency modulation rateThe distance of radiation source and reconnaissance equipment is calculated, is calculated by following formula：
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| CN106908760B (en) * | 2017-04-21 | 2019-05-03 | 西安电子科技大学 | Single-station passive positioning method based on array autocorrelation matrix |
| CN108872933B (en) * | 2018-07-16 | 2022-02-08 | 电子科技大学 | Single-station blind interferometer positioning method |
| CN110471029B (en) * | 2019-08-16 | 2023-11-24 | 天津大学 | Single-station passive positioning method and device based on extended Kalman filtering |
| US20230341544A1 (en) | 2020-09-29 | 2023-10-26 | Nec Corporation | Image analysis device and image analysis method |
| CN112698267B (en) * | 2020-12-05 | 2023-03-31 | 中海电信有限公司 | Interference source testing and positioning method |
| CN114624649B (en) * | 2022-03-11 | 2024-03-19 | 北京理工大学 | Method for positioning airborne passive synthetic aperture radiation source insensitive to residual frequency offset |
| CN114428225B (en) * | 2022-04-06 | 2022-06-14 | 中国电子科技集团公司第二十九研究所 | Multi-radiation source arrival angle measuring method and device based on quasi-matched filtering |
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| CN101762812A (en) * | 2009-12-11 | 2010-06-30 | 中国航空无线电电子研究所 | Measuring method of airborne single-station passive positioning system on target radiation wavelength |
| CN104515971A (en) * | 2014-12-25 | 2015-04-15 | 西安电子科技大学 | Airborne single-station passive positioning method for multiple broadband targets |
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| US5239310A (en) * | 1992-07-17 | 1993-08-24 | Meyers William G | Passive self-determined position fixing system |
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| CN101762812A (en) * | 2009-12-11 | 2010-06-30 | 中国航空无线电电子研究所 | Measuring method of airborne single-station passive positioning system on target radiation wavelength |
| CN104515971A (en) * | 2014-12-25 | 2015-04-15 | 西安电子科技大学 | Airborne single-station passive positioning method for multiple broadband targets |
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