CN106093846A - The localization method in a kind of stationary radiant source and device - Google Patents

Abstract

The invention discloses localization method and the device in a kind of stationary radiant source.Described method includes: the area-of-interest in stationary radiant source is carried out uniform stress and strain model, obtains the coordinate of each grid；Calculate described stationary radiant source and be positioned at the probability function of each grid；Using phase-interferometer that described stationary radiant source is carried out M phase measurement, obtain the phase difference measurement of each phase measurement, wherein M is the positive integer more than 1；Phase difference measurement according to each phase measurement and described stationary radiant source are positioned at the probability function of each grid, calculate described stationary radiant source and be positioned at the cumulative probability value of each grid, mesh coordinate corresponding for maximum in cumulative probability value is orientated as the position coordinates in described stationary radiant source.Technical scheme can correct ambiguity solution, reduce the probability that false solution is fuzzy, promote positioning precision.

Description

The localization method in a kind of stationary radiant source and device

Technical field

The present invention relates to spaceborne interferometer direction finding field of locating technology, particularly to the localization method in a kind of stationary radiant source And device.

Background technology

Interferometer is surveyed phase difference direction finding system and is widely used in low rail passive direction finding system, is a kind of important direction finding body System.Owing to satellite platform limits and influence of noise, direction-finding system exists that phase contrast is fuzzy, fuzzy (i.e. multiple directions cannot in direction finding Unique selection) and the problem of false solution fuzzy (i.e. wrong choice one direction), become interferometer and survey phase difference direction finding system The restraining factors of efficient application.Wherein, phase contrast is fuzzy and direction finding fuzzy problem is studied the most widely, and false solution obscures and asks Topic then rarely has research.

Conventional ambiguity solution method has a determination methods based on t inspection with F inspection, but both approaches yet suffer from cannot The probability that ambiguity solution even false solution is fuzzy, especially when baseline wavelength ratio is relatively big or phase measurement error is bigger above-mentioned probability without Method is ignored.

Summary of the invention

In view of foregoing description, the invention provides localization method and the device in a kind of stationary radiant source, to solve existing solution Cannot ambiguity solution, problem that false solution is fuzzy in blur method.

For reaching above-mentioned purpose, the technical scheme is that and be achieved in that:

On the one hand, the invention provides the localization method in a kind of stationary radiant source, described method includes:

The area-of-interest in stationary radiant source is carried out uniform stress and strain model, obtains the coordinate of each grid；

Calculate described stationary radiant source and be positioned at the probability function of each grid；

Use phase-interferometer that described stationary radiant source is carried out M phase measurement, obtain the phase place of each phase measurement Aberration measurements, wherein M is the positive integer more than 1；

Phase difference measurement according to each phase measurement and described stationary radiant source are positioned at the probability letter of each grid Number, calculates described stationary radiant source and is positioned at the cumulative probability value of each grid, by net corresponding for maximum in cumulative probability value Lattice coordinate setting is the position coordinates in described stationary radiant source.

Preferably, described calculating described stationary radiant source is positioned at the probability function of each grid and includes:

Phase difference measurement estimated value φ according to phase-interferometer single phase measurement_ji(x_o,y_o,z_o)+e_ji, set up described Stationary radiant source be positioned at each grid basis probability function:

${P^{\′}}_i(x_k,y_p,z_0)=\underset{j=1}{\overset{L}{\Π}}f\left(\right({\mathrm{\φ}}_{ji}\left(x_o,y_o,z_o\right)+e_{ji}\left)\right|\left({\mathrm{\φ}}_{ji}\left(x_k,y_p,z_o\right),{\mathrm{\σ}}_e^2\right));$

According to described phase difference measurement estimated value φ_ji(x_o,y_o,z_o)+e_jiWith phase difference measurement φ_ji' corresponding relation φ_ji(x_o,y_o,z_o)+e_ji=φ_ji′+2n₁π and described stationary radiant source are positioned at the probability function P' on the basis of each grid_i (x_k,y_p,z₀), it is calculated described stationary radiant source and is positioned at the probability function of each grid:

$P_i(x_k,y_p,z_0)=\underset{j=1}{\overset{L}{\Π}}f\left(\right({{\mathrm{\φ}}_{ji}}^{\′}+2n_1\mathrm{\π}\left)\right|\left({\mathrm{\φ}}_{ji}\left(x_k,y_p,z_0\right)+2n_2\mathrm{\π},{\mathrm{\σ}}_e^2\right));$

Wherein, φ_ji(x, y, z)=k_j(u_i(x,y,z)·d_ji)/||d_ji| |, k_j=2 π k_0j, k_0jFor the j-th strip length of base With the ratio of signal wavelength, u_i(x, y, z)=r_i(x,y,z)/||r_i(x, y, z) | |, r_iWhen measuring for i & lt, antenna coordinate system is former Point (x_i,y_i,z_i) to stationary radiant source (x, y, vector z), r_i=(x-x_i,y-y_i,z-z_i), d_jiJ-th strip when measuring for i & lt The vector that baseline is constituted, | | d_ji| | for vector d_jiModulus value；e_jiFor phase difference measurement error, meet average be 0, variance be Normal distribution；n₁And n₂For positive integer, and n₂-n₁∈{-1,0,1}；φ_ji(x_o,y_o,z_o) it is phase-interferometer j-th strip baseline The phase contrast theoretical value that i & lt is measured, φ_ji(x_o,y_o,z_o)+e_jiThe phase place measured for phase-interferometer j-th strip baseline i & lt Difference estimated value, φ_j'_iThe phase difference measurement measured for phase-interferometer j-th strip baseline i & lt.

Preferably, described calculating described stationary radiant source is positioned at the probability function of each grid and also includes:

According to qualifications:

With

To described probability function P_i(x_k,y_p,z₀) be optimized, the probability function after being optimized

Preferably, described calculating described stationary radiant source is positioned at the probability function of each grid and also includes:

To the probability function P after described optimization_i ^*(x_k,y_p,z₀) be normalized, obtain normalized probability function

Preferably, phase difference measurement and the described stationary radiant source of each phase measurement of described basis is positioned at each net The probability function of lattice, calculates described stationary radiant source and is positioned at the cumulative probability value of each grid, by maximum in cumulative probability value Mesh coordinate corresponding to value orientate as described stationary radiant source position coordinates particularly as follows:

Phase difference measurement φ ' according to each phase measurement_jiWith described normalized probability functionMeter Calculate obtain described stationary radiant source and be positioned at the cumulative probability value of each grid be

By the maximum in cumulative probability valueAs described The position coordinates in stationary radiant source；

Wherein, the area-of-interest in stationary radiant source be (x, y) | x_L≤x≤x_U,y_L≤y≤y_U, Δ x, Δ y are grid Stepping.

On the other hand, the invention provides the positioner in a kind of stationary radiant source, this device includes:

Stress and strain model unit, for the area-of-interest in stationary radiant source is carried out uniform stress and strain model, obtains each The coordinate of individual grid；

Probability function computing unit, is positioned at the probability function of each grid for calculating described stationary radiant source；

Phase difference measurement acquiring unit, is used for using phase-interferometer that described stationary radiant source carries out M phase place and surveys Amount, obtains the phase difference measurement of each phase measurement, and wherein M is the positive integer more than 1；

Positioning unit, for being positioned at each according to phase difference measurement and the described stationary radiant source of each phase measurement The probability function of grid, calculates described stationary radiant source and is positioned at the cumulative probability value of each grid, by cumulative probability value The mesh coordinate of big value correspondence orientates the position coordinates in described stationary radiant source as.

Preferably, described probability function computing unit includes:

Set up module, for phase difference measurement estimated value φ according to phase-interferometer single phase measurement_ji(x_o,y_o,z_o) +e_ji, set up described stationary radiant source be positioned at each grid basis probability function:

${P^{\′}}_i(x_k,y_p,z_0)=\underset{j=1}{\overset{L}{\Π}}f\left(\right({\mathrm{\φ}}_{ji}\left(x_o,y_o,z_o\right)+e_{ji}\left)\right|\left({\mathrm{\φ}}_{ji}\left(x_k,y_p,z_o\right),{\mathrm{\σ}}_e^2\right));$

Computing module, for according to described phase difference measurement estimated value φ_ji(x_o,y_o,z_o)+e_jiWith phase difference measurement φ_ji' corresponding relation φ_ji(x_o,y_o,z_o)+e_ji=φ_ji′+2n₁π and described stationary radiant source are positioned at the basis of each grid Probability function P'_i(x_k,y_p,z₀), it is calculated described stationary radiant source and is positioned at the probability function of each grid:

$P_i(x_k,y_p,z_0)=\underset{j=1}{\overset{L}{\Π}}f\left(\right({{\mathrm{\φ}}_{ji}}^{\′}+2n_1\mathrm{\π}\left)\right|\left({\mathrm{\φ}}_{ji}\left(x_k,y_p,z_0\right)+2n_2\mathrm{\π},{\mathrm{\σ}}_e^2\right));$

Wherein, φ_ji(x, y, z)=k_j(u_i(x,y,z)·d_ji)/||d_ji| |, k_j=2 π k_0j, k_0jFor the j-th strip length of base With the ratio of signal wavelength, u_i(x, y, z)=r_i(x,y,z)/||r_i(x, y, z) | |, r_iWhen measuring for i & lt, antenna coordinate system is former Point (x_i,y_i,z_i) to stationary radiant source (x, y, vector z), r_i=(x-x_i,y-y_i,z-z_i), d_jiJ-th strip when measuring for i & lt The vector that baseline is constituted, | | d_ji| | for vector d_jiModulus value；e_jiFor phase difference measurement error, meet average be 0, variance be Normal distribution；n₁And n₂For positive integer, and n₂-n₁∈{-1,0,1}；φ_ji(x_o,y_o,z_o) it is phase-interferometer j-th strip baseline The phase contrast theoretical value that i & lt is measured, φ_ji(x_o,y_o,z_o)+e_jiThe phase place measured for phase-interferometer j-th strip baseline i & lt Difference estimated value, φ '_jiThe phase difference measurement measured for phase-interferometer j-th strip baseline i & lt.

Preferably, described probability function computing unit also includes:

Optimize module, for according to qualifications:

With

To described probability function P_i(x_k,y_p,z₀) be optimized, the probability function after being optimized

Preferably, described probability function computing unit also includes:

Normalization module, for the probability function P after described optimization_i ^*(x_k,y_p,z₀) be normalized, returned One probability function changed

Preferably, described positioning unit includes:

Cumulative probability value computing module, for the phase difference measurement φ ' according to each phase measurement_jiWith described normalization Probability functionCalculate described stationary radiant source and be positioned at the cumulative probability value of each grid

Position coordinates determines module, for by the maximum in cumulative probability value Position coordinates as described stationary radiant source；

Wherein, the area-of-interest in stationary radiant source be (x, y) | x_L≤x≤x_U,y_L≤y≤y_U, Δ x, Δ y are grid Stepping.

The embodiment of the present invention provides the benefit that: the present invention draws by the area-of-interest in stationary radiant source is carried out grid Point, and obtain stationary radiant source and be positioned at the probability function of each grid；Utilize phase-interferometer that stationary radiant source is carried out really Determining the phase measurement of number of times, the false solution avoiding single phase measurement to cause obscures, and is positioned at each net according to stationary radiant source Probability function and the phase difference measurement of each phase measurement in lattice are calculated stationary radiant source and are positioned at each grid Cumulative probability value, due in being distributed based on the calculated cumulative probability of repeatedly phase measurement, non-in area-of-interest The accumulation that the cumulative probability value that at stationary radiant source position, each grid is corresponding is corresponding much smaller than grid at stationary radiant source position Probit, therefore determines mesh coordinate corresponding for maximum in cumulative probability value that the localization method of positioning result can correctly solve Fuzzy, reduce the probability that false solution is fuzzy, promote positioning precision.

Accompanying drawing explanation

The localization method flow chart in the stationary radiant source that Fig. 1 provides for embodiment one；

Fig. 2 is connected coordinate system and the schematic diagram of phase-interferometer antenna coordinate system for the earth that embodiment one provides；

It is arbitrary that Fig. 3 is positioned at area-of-interest for the stationary radiant source that the phase measurement that embodiment one provides is corresponding Probability distribution schematic diagram in grid；

It is arbitrary that Fig. 4 is positioned at area-of-interest for the stationary radiant source that twice phase measurement that embodiment one provides is corresponding Probability distribution schematic diagram in grid；

The positioning device structure block diagram in the stationary radiant source that Fig. 5 provides for embodiment two.

Detailed description of the invention

For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention Formula is described in further detail.

The global design thought of the present invention is: survey false solution present in phase difference direction finding system for interferometer fuzzy Problem, can promote the probability of correct ambiguity solution as theoretical foundation with the method for repeatedly phase difference measurement, by stationary radiant The area-of-interest in source carries out stress and strain model, calculates stationary radiant source and is positioned at the probability of each grid, based on area-of-interest The cumulative probability value of the interferometer repeatedly phase measurement that each grid at interior nonstatic radiation source positions is corresponding is much smaller than phase The fact that corresponding to the grid at stationary radiant source position cumulative probability value, it is achieved the location to stationary radiant source.

Embodiment one

The localization method flow chart in the stationary radiant source that Fig. 1 provides for the present embodiment, as it is shown in figure 1, the method bag in Fig. 1 Include:

S110, carries out uniform stress and strain model to the area-of-interest in stationary radiant source, obtains the coordinate of each grid.

In the present embodiment assume stationary radiant source area-of-interest be (x, y) | x_L≤x≤x_U,y_L≤y≤y_U, with net Lattice stepping Δ x, Δ y carry out uniform stress and strain model to this area-of-interest, for arbitrary grid (x_k,y_p) coordinate have: x_k= x_L,x_L+Δx,x_L+2Δx,...,x_U, y_p=y_L,y_L+Δy,yL+2Δy,...,y_U。

S120, calculates stationary radiant source and is positioned at the probability function of each grid.

Being positioned at the probability function of each grid for ease of describing calculating stationary radiant source in this step, the present embodiment defines Coordinate-system as shown in Figure 2.

Fig. 2 is connected coordinate system and the schematic diagram of phase-interferometer antenna coordinate system for the earth that the present embodiment provides, in Fig. 2 Coordinate system XYZ be that the earth is connected coordinate system, the earth coordinate system that is connected is the coordinate system not changed over, and remembers stationary radiant source Position be s, the coordinate being connected in coordinate system at the earth is (x_o,y_o,z_o)；Coordinate system X in Fig. 2 '_iY’_iZ’_iFor phase interference Antenna coordinate system when instrument i & lt is measured, its initial point O '_iThe coordinate being connected in coordinate system at the earth is (x_i,y_i,z_i), according to phase Position interferometer phase difference measurements is theoretical, can obtain the phase-interferometer j-th strip baseline phase contrast reason when i & lt phase measurement Opinion value is:

φ_ji(x, y, z)=k_j(u_i(x,y,z)·d_ji)/||d_ji|| (1)

In formula (1), φ_ji(x, y, z)=k_j(u_i(x,y,z)·d_ji)/||d_ji| |, k_j=2 π k_0j, k_0jFor j-th strip baseline The ratio of length and signal wavelength, u_i(x, y, z)=r_i(x,y,z)/||r_i(x, y, z) | |, r_iFor antenna during i & lt phase measurement Coordinate origin (x_i,y_i,z_i) to stationary radiant source s (x, y, vector z), r_i=(x-x_i,y-y_i,z-z_i), d_jiSurvey for i & lt The vector that during amount, j-th strip baseline is constituted, | | d_ji| | for vector d_jiModulus value.

It should be noted that present embodiment assumes that stationary radiant source s (x_o,y_o,z_oElevation parameter z in)_oIt is known that this reality Execute example and only need to determine parameter x in the s of stationary radiant source_oAnd y_o。

In step S120, the probability function detailed process that calculating stationary radiant source s is positioned at each grid is as follows:

Phase difference measurement estimated value φ according to phase-interferometer single phase measurement_ji(x_o,y_o,z_o)+e_ji, set up static Radiation source be positioned at each grid basis probability function:

${P^{\′}}_i(x_k,y_p,z_0)=\underset{j=1}{\overset{L}{\Π}}f\left(\right({\mathrm{\φ}}_{ji}\left(x_o,y_o,z_o\right)+e_{ji}\left)\right|\left({\mathrm{\φ}}_{ji}\left(x_k,y_p,z_o\right),{\mathrm{\σ}}_e^2\right))---\left(2\right)$

In formula (2), e_jiFor phase difference measurement error, meet average be 0, variance beNormal distribution,For being φ in average_ji(x_k,y_p, zo), variance beNormal distribution In, value is φ_ji(x_o,y_o,z_o)+e_ji) probability density function.

The phase difference measurement φ obtained due to phase-interferometer measurement_ji' it is the value after folding, i.e. pass through phase interference The phase difference measurement φ that instrument phase measurement obtains_ji' span be-π≤φ_ji'≤π, it is known that the phase contrast in formula (2) Measure estimated value φ_ji(x_o,y_o,z_o)+e_jiWith phase difference measurement φ_ji' generally differ complete cycle number, i.e. φ_ji(x_o,y_o,z_o)+e_ji =φ_ji′+2n₁π.Based on this, can be according to phase difference measurement estimated value φ_ji(x_o,y_o,z_o)+e_jiWith phase difference measurement φ_ji′ Corresponding relation φ_ji(x_o,y_o,z_o)+e_ji=φ_ji′+2n₁π, rewrites formula (2), i.e. available based on phase contrast survey Value φ_ji' stationary radiant source be positioned at the probability function P of each grid_i(x_k,y_p,z₀)。

$\begin{array}{c}{P}_i(x_k,y_p,z_o)=\underset{j=1}{\overset{L}{\Π}}f\left(\right({\mathrm{\φ}}_{ji}\left(x_o,y_o,z_o\right)+e_{ji}\left)\right|\left({\mathrm{\φ}}_{ji}\right(x_k,y_p,z_o),{\mathrm{\σ}}_e^2))\\ =\underset{j=1}{\overset{L}{\Π}}f\left(\right({{\mathrm{\φ}}_{ji}}^{\′}+2n_1\mathrm{\π}\left)\right|\left({\mathrm{\φ}}_{ji}\left(x_k,y_p,z_o\right)+2n_2\mathrm{\π},{\mathrm{\σ}}_e^2\right))\\ =\underset{j=1}{\overset{L}{\Π}}f\left({{\mathrm{\φ}}_{ji}}^{\′}\right|\left({\mathrm{\φ}}_{ji}\left(x_k,y_p,z_o\right)+2\left(n_2-n_1\right)\mathrm{\π},{\mathrm{\σ}}_e^2\right))\end{array}---\left(3\right)$

In formula (3), n₁And n₂For positive integer, due to phase difference measurement error e_jiTypically small, typically smaller than 90 °, i.e. because of Phase difference measurement error e_jiThe φ caused_ji(x_o,y_o,z_o)+e_jiAnd φ_ji(x_o,y_o,z_o) difference of complete cycle number is not more than 1, therefore The middle n of formula (3)₂-n₁∈{-1,0,1}。

Wherein, the φ in formula (3)_ji(x_k,y_p,z_o) meet formula (4):

${\mathrm{\&phi;}}_{ji}(x_k,y_p,z_o)=\left\{\begin{array}{c}\mathrm{mod}\left({\mathrm{\&phi;}}_{ji}\right(x_k,y_p,z_o)+e_j,2\mathrm{\&pi;})+2\mathrm{\&pi;},\mathrm{mod}\left({\mathrm{\&phi;}}_{ji}\right(x_k,y_p,z_o)+e_j,2\mathrm{\&pi;})<-\mathrm{\&pi;}\\ \mathrm{mod}\left({\mathrm{\&phi;}}_{ji}\right(x_k,y_p,z_o)+e_j,2\mathrm{\&pi;}),-\mathrm{\&pi;}\&le;\mathrm{mod}\left({\mathrm{\&phi;}}_{ji}\right(x_k,y_p,z_o)+e_j,2\mathrm{\&pi;})\&le;\mathrm{\&pi;}\\ \mathrm{mod}\left({\mathrm{\&phi;}}_{ji}\right(x_k,y_p,z_o)+e_j,2\mathrm{\&pi;})-2\mathrm{\&pi;},\mathrm{mod}\left({\mathrm{\&phi;}}_{ji}\right(x_k,y_p,z_o)+e_j,2\mathrm{\&pi;})>\mathrm{\&pi;}\end{array}\right.---\left(4\right)$

In formula (4), mod (A, B)=A-n B,| | for the operator that takes absolute value,For rounding downwards Operator.

In a preferred version of the present embodiment, due to phase difference measurement error e_jiTypically small, thenHave and derive as follows:

$\begin{array}{c}f\left({{\mathrm{\&phi;}}_{ji}}^{\&prime;}\right|{\mathrm{\&phi;}}_{ji}\left(x_k,y_p,z_0\right)+2\left(n_2-n_1\right)\mathrm{\&pi;},{\mathrm{\&sigma;}}_e^2)\\ =f\left(0\right|{\mathrm{\&phi;}}_{ji}\left(x_k,y_p,z_0\right)+2\left(n_2-n_1\right)\mathrm{\&pi;}-{{\mathrm{\&phi;}}_{ji}}^{\&prime;},{\mathrm{\&sigma;}}_e^2)\\ =f\left(0\right|-e_{ji},{\mathrm{\&sigma;}}_e^2)\\ =f\left(0\right|e_{ji},{\mathrm{\&sigma;}}_e^2)\end{array}---\left(5\right)$

AndThrough deriving, can obtain:

$f\left({{\mathrm{\&phi;}}_{ji}}^{\&prime;}\right|{\mathrm{\&phi;}}_{ji}\left(k,p\right)+2\left(n_2-n_1+1\right)\mathrm{\&pi;},{\mathrm{\&sigma;}}_e^2)=f\left(0\right|e_{ji}+2\mathrm{\&pi;},{\mathrm{\&sigma;}}_e^2)---\left(6\right)$

Due in formula (5)More than in formula (6)Therefore

In like manner, can obtain

Based on above-mentioned qualifications, n can be calculated respectively₂-n₁=-1, n₂-n₁=0, n₂-n₁When=1, general in formula (3) Rate function P_i(x_k,y_p,z₀), choose the probability function of maximum as the probability function after optimizing.

Concrete, according to qualifications:

With

To the probability function P in formula (3)_i(x_k,y_p,z₀) be optimized, the probability function after being optimized

Due to the present embodiment use the method for repeatedly phase measurement to promote the probability of correct ambiguity solution, for avoiding follow-up During, calculating stationary radiant source, to be positioned at the cumulative probability value not factor value of each grid too small and produce calculating error, this Embodiment is preferably to the probability function P after optimizing_i*(x_k,y_p,z₀) be normalized.

Concrete, according to following formula to the probability function P after optimizing_i*(x_k,y_p,z₀) it is normalized:

$\stackrel{\&OverBar;}{P_i*(x_k,y_p,z_0)}=\frac{P_i*(x_k,y_p,z_0)}{\underset{k}{\&Sigma;}\underset{p}{\&Sigma;}{P}_i*(x_k,y_p,z_0)}---\left(7\right)$

S130, uses phase-interferometer that stationary radiant source is carried out M phase measurement, obtains the phase place of each phase measurement Aberration measurements, wherein M is the positive integer more than 1.

Wherein, M value can determine according to emulation experiment or historical measurement data.

S140, is positioned at the probability letter of each grid according to the phase difference measurement of each phase measurement and stationary radiant source Number, calculates stationary radiant source and is positioned at the cumulative probability value of each grid, sat by grid corresponding for maximum in cumulative probability value Mark orientates the position coordinates in stationary radiant source as.

The phase difference measurement obtained M the phase measurement in stationary radiant source due to phase-interferometer is separate, because of This present embodiment can be according to the phase difference measurement φ ' of each phase measurement_jiWith normalized probability function in formula (7)Calculate stationary radiant source and be positioned at the cumulative probability value of each grid, obtain stationary radiant source and be positioned at each The cumulative probability value of grid is:

$P_{i=1,2,\mathrm{...}M}(x_k,y_p,z_0)=\underset{i}{\overset{M}{\&Pi;}}\stackrel{\&OverBar;}{P_i*(x_k,y_k,z_0)}---\left(8\right)$

Then can obtain according to formula (8), stationary radiant source is positioned at the cumulative probability value of each grid of area-of-interest, than The cumulative probability value that more each grid is corresponding, by the maximum in cumulative probability valueMake For the position coordinates in this stationary radiant source, thus realize the location to stationary radiant source.

The present embodiment by carrying out stress and strain model to the area-of-interest in stationary radiant source, and obtain stationary radiant source and be positioned at Probability function in each grid；Utilize phase-interferometer that stationary radiant source is determined the phase measurement of number of times, avoid The false solution that single phase measurement causes obscures, and is positioned at the probability function of each grid and each phase place according to stationary radiant source The phase difference measurement measured is calculated stationary radiant source and is positioned at the cumulative probability value of each grid, due to based on repeatedly In the distribution of phase measurement calculated cumulative probability, each grid pair at nonstatic radiation source positions in area-of-interest The cumulative probability value that the cumulative probability value answered is corresponding much smaller than grid at stationary radiant source position, therefore by cumulative probability value Mesh coordinate corresponding to big value determine positioning result localization method can correct ambiguity solution, the probability that minimizing false solution obscures, Promote positioning precision.

For the beneficial effect of the brightest the present embodiment, illustrate below by a specific implementation:

For simple and Convenient Calculation process, and without loss of generality, this specific implementation being assumed, stationary radiant source s is connected at the earth Coordinate in coordinate system XYZ is (0,0,0), and phase-interferometer is equally distributed five array element flat circle battle array phase-interferometers, should The centrally disposed phase reference of round battle array of phase-interferometer receives passage, the X/Y plane of the coordinate system that is just being connected the earth, i.e. phase place The antenna coordinate system Z ' axle of interferometer and the earth coordinate system Z axis that is connected is reverse, and the antenna coordinate system initial point O ' of phase-interferometer In the earth is connected coordinate system XYZ, time dependent coordinate is (-200+10t ,-400+10t, 600).

Assume phase-interferometer at t=1,2 ... the integer moment carry out the phase measurement of each array element and reference channel, and Phase measurement time is much smaller than measuring time interval.

Ratio k when the phase-interferometer j-th strip length of base with signal wavelength_0j=55.5,Time, by above-mentioned formula (7) the normalization probability that phase difference measurement based on each phase measurement is corresponding can be obtainedFurther according to Formula (8) can be calculated stationary radiant source and be positioned at cumulative probability value P of each grid_{I=1,2 ... M}(x_k,y_p,z₀)。

This specific implementation, respectively as a example by phase measurement number of times M=1 and M=2, illustrates phase measurement number of times value pair The impact of stationary radiant source location result:

As phase measurement number of times M=1, the position error being calculated stationary radiant source is 225.016；Work as phase measurement During number of times M=2, the position error being calculated stationary radiant source is 1.As can be seen here, use above-mentioned when this specific implementation Parameter combines (such as k_0j=55.5,) time, phase-interferometer carries out twice phase measurement the most static i.e. available spoke Penetrate the positioning result in source.Clearly for different parameter combinations, need to carry out the phase measurement time fully analyzed to determine optimum Number.

It should be noted that this specific implementation is by position error formulaCalculate phase The error of positioning result, wherein x during the pendulous frequency M=1 and M=2 of position₀=0, y₀=0.

With reference to shown in Fig. 3 and Fig. 4, Fig. 3 is that stationary radiant source corresponding to phase measurement is positioned at area-of-interest Probability distribution schematic diagram in arbitrary grid, Fig. 4 is that stationary radiant source corresponding to twice phase measurement is positioned at region of interest Probability distribution schematic diagram in the arbitrary grid in territory, the probability distribution schematic diagram of comparison diagram 3 and Fig. 4, it is possible to find out intuitively, Fig. 3 Middle stationary radiant source is positioned in the probability distribution of the arbitrary grid of area-of-interest, there is the peak value that more height is close, has relatively For manifest error ambiguity solution phenomenon, and during in Fig. 4, stationary radiant source is positioned at the probability distribution of the arbitrary grid of area-of-interest, Peak-peak is more obvious, efficiently solves the problem that false solution is fuzzy.

Embodiment two

The present embodiment is based on the technology design identical with embodiment one, it is provided that the positioner in a kind of stationary radiant source.

The positioning device structure block diagram in the stationary radiant source that Fig. 5 provides for the present embodiment, as it is shown in figure 5, this positioner Including:

Stress and strain model unit 51, for the area-of-interest in stationary radiant source is carried out uniform stress and strain model, obtains every The coordinate of one grid.

Probability function computing unit 52, is positioned at the probability function of each grid for calculating described stationary radiant source.

Phase difference measurement acquiring unit 53, is used for using phase-interferometer that described stationary radiant source is carried out M phase place Measuring, obtain the phase difference measurement of each phase measurement, wherein M is the positive integer more than 1.

Positioning unit 54, for being positioned at each according to phase difference measurement and the described stationary radiant source of each phase measurement The probability function of individual grid, calculates described stationary radiant source and is positioned at the cumulative probability value of each grid, by cumulative probability value The mesh coordinate that maximum is corresponding orientates the position coordinates in described stationary radiant source as.

The probability function computing unit 52 of the present embodiment includes:

Set up module, for phase difference measurement estimated value φ according to phase-interferometer single phase measurement_ji(x_o,y_o,z_o) +e_ji, set up stationary radiant source be positioned at each grid basis probability function:

${P^{\&prime;}}_i(x_k,y_p,z_0)=\underset{j=1}{\overset{L}{\&Pi;}}f\left(\right({\mathrm{\&phi;}}_{ji}\left(x_o,y_o,z_o\right)+e_{ji}\left)\right|\left({\mathrm{\&phi;}}_{ji}\left(x_k,y_p,z_o\right),{\mathrm{\&sigma;}}_e^2\right));$

Computing module, for according to phase difference measurement estimated value φ_ji(x_o,y_o,z_o)+e_jiWith phase difference measurement φ_ji' Corresponding relation φ_ji(x_o,y_o,z_o)+e_ji=φ_ji′+2n₁π and stationary radiant source are positioned at the probability function on the basis of each grid P'_i(x_k,y_p,z₀), it is calculated stationary radiant source and is positioned at the probability function of each grid:

$P_i(x_k,y_p,z_0)=\underset{j=1}{\overset{L}{\&Pi;}}f\left(\right({{\mathrm{\&phi;}}_{ji}}^{\&prime;}+2n_1\mathrm{\&pi;}\left)\right|\left({\mathrm{\&phi;}}_{ji}\left(x_k,y_p,z_0\right)+2n_2\mathrm{\&pi;},{\mathrm{\&sigma;}}_e^2\right));$

Wherein, φ_ji(x, y, z)=k_j(u_i(x,y,z)·d_ji)/||d_ji| |, k_j=2 π k_0j, k_0jFor the j-th strip length of base With the ratio of signal wavelength, u_i(x, y, z)=r_i(x,y,z)/||r_i(x, y, z) | |, r_iWhen measuring for i & lt, antenna coordinate system is former Point (x_i,y_i,z_i) to stationary radiant source (x, y, vector z), r_i=(x-x_i,y-y_i,z-z_i), d_jiJ-th strip when measuring for i & lt The vector that baseline is constituted, | | d_ji| | for vector d_jiModulus value；e_jiFor phase difference measurement error, meet average be 0, variance be Normal distribution；n₁And n₂For positive integer, and n₂-n₁∈{-1,0,1}；φ_ji(x_o,y_o,z_o) it is phase-interferometer j-th strip baseline The phase contrast theoretical value that i & lt is measured, φ_ji(x_o,y_o,z_o)+e_jiThe phase place measured for phase-interferometer j-th strip baseline i & lt Difference estimated value, φ '_jiThe phase difference measurement measured for phase-interferometer j-th strip baseline i & lt.

In a preferred version of the present embodiment, probability function computing unit 52 also includes: optimize module and normalized mode Block；

Optimize module, for according to qualifications:

With

To described probability function P_i(x_k,y_p,z₀) be optimized, the probability function after being optimized

Normalization module, for the probability function P after optimizing_i*(x_k,y_p,z₀) be normalized, obtain normalizing The probability function changed

Positioning unit 54 includes: cumulative probability value computing module and position coordinates determine module；

Cumulative probability value computing module, for the phase difference measurement φ ' according to each phase measurement_jiWith described normalization Probability functionCalculate described stationary radiant source and be positioned at the cumulative probability value of each grid

Position coordinates determines module, for by the maximum in cumulative probability valueMake Position coordinates for described stationary radiant source；

Wherein, the area-of-interest in stationary radiant source be (x, y) | x_L≤x≤x_U,y_L≤y≤y_U, Δ x, Δ y are grid Stepping.

The specific works mode of each unit module of apparatus of the present invention embodiment may refer to the embodiment of the method for the present invention, Do not repeat them here.

In sum, the invention provides localization method and the device in a kind of stationary radiant source, by stationary radiant source Area-of-interest carry out stress and strain model, and obtain stationary radiant source and be positioned at the probability function of each grid；Phase place is utilized to do Interferometer is determined the phase measurement of number of times to stationary radiant source, and the false solution avoiding single phase measurement to cause obscures, root The phase difference measurement of the probability function and each phase measurement that are positioned at each grid according to stationary radiant source is calculated static Radiation source is positioned at the cumulative probability value of each grid, due to based on the calculated cumulative probability of repeatedly phase measurement In distribution, the cumulative probability value that in area-of-interest, at nonstatic radiation source positions, each grid is corresponding is much smaller than stationary radiant source The cumulative probability value that position grid is corresponding, therefore determines positioning result by mesh coordinate corresponding for maximum in cumulative probability value Localization method can correct ambiguity solution, reduce the probability that false solution is fuzzy, promote positioning precision.

The foregoing is only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.All Any modification, equivalent substitution and improvement etc. made within the spirit and principles in the present invention, are all contained in protection scope of the present invention In.

Claims (10)

1. the localization method in a stationary radiant source, it is characterised in that described method includes:

The area-of-interest in stationary radiant source is carried out uniform stress and strain model, obtains the coordinate of each grid；

Calculate described stationary radiant source and be positioned at the probability function of each grid；

Using phase-interferometer that described stationary radiant source is carried out M phase measurement, the phase contrast obtaining each phase measurement is surveyed Value, wherein M is the positive integer more than 1；

Phase difference measurement according to each phase measurement and described stationary radiant source are positioned at the probability function of each grid, meter Calculate described stationary radiant source and be positioned at the cumulative probability value of each grid, by mesh coordinate corresponding for maximum in cumulative probability value Orientate the position coordinates in described stationary radiant source as.

Localization method the most according to claim 1, it is characterised in that described calculating described stationary radiant source is positioned at each The probability function of grid includes:

Phase difference measurement estimated value φ according to phase-interferometer single phase measurement_ji(x_o,y_o,z_o)+e_ji, set up described static Radiation source be positioned at each grid basis probability function:

${P^{\&prime;}}_i(x_k,y_p,z_0)=\underset{j=1}{\overset{L}{\&Pi;}}f\left(\right({\mathrm{\&phi;}}_{ji}\left(x_o,y_o,z_o\right)+e_{ji}\left)\right|\left({\mathrm{\&phi;}}_{ji}\left(x_k,y_p,z_o\right),{\mathrm{\&sigma;}}_e^2\right));$

According to described phase difference measurement estimated value φ_ji(x_o,y_o,z_o)+e_jiWith phase difference measurement φ_ji' corresponding relation φ_ji (x_o,y_o,z_o)+e_ji=φ_ji′+2n₁π and described stationary radiant source are positioned at the probability function P' on the basis of each grid_i(x_k, y_p,z₀), it is calculated described stationary radiant source and is positioned at the probability function of each grid:

$P_i(x_k,y_p,z_0)=\underset{j=1}{\overset{L}{\&Pi;}}f\left(\right({{\mathrm{\&phi;}}_{ji}}^{\&prime;}+2n_1\mathrm{\&pi;}\left)\right|\left({\mathrm{\&phi;}}_{ji}\left(x_k,y_p,z_0\right)+2n_2\mathrm{\&pi;},{\mathrm{\&sigma;}}_e^2\right));$

Wherein, φ_ji(x, y, z)=k_j(u_i(x,y,z)·d_ji)/||d_ji| |, k_j=2 π k_0j, k_0jFor the j-th strip length of base and letter The ratio of number wavelength, u_i(x, y, z)=r_i(x,y,z)/||r_i(x, y, z) | |, r_iAntenna coordinate system initial point (x when measuring for i & lt_i, y_i,z_i) to stationary radiant source (x, y, vector z), r_i=(x-x_i,y-y_i,z-z_i), d_jiJ-th strip baseline structure when measuring for i & lt The vector become, | | d_ji| | for vector d_jiModulus value；e_jiFor phase difference measurement error, meet average be 0, variance beNormal state Distribution；n₁And n₂For positive integer, and n₂-n₁∈{-1,0,1}；φ_ji(x_o,y_o,z_o) it is that phase-interferometer j-th strip baseline i & lt is surveyed The phase contrast theoretical value of amount, φ_ji(x_o,y_o,z_o)+e_jiThe phase difference estimation measured for phase-interferometer j-th strip baseline i & lt Value, φ '_jiThe phase difference measurement measured for phase-interferometer j-th strip baseline i & lt.

Localization method the most according to claim 2, it is characterised in that described calculating described stationary radiant source is positioned at each The probability function of grid also includes:

According to qualifications:

With

To described probability function P_i(x_k,y_p,z₀) be optimized, the probability function after being optimized

Localization method the most according to claim 3, it is characterised in that described calculating described stationary radiant source is positioned at each The probability function of grid also includes:

To the probability function P after described optimization_i ^*(x_k,y_p,z₀) be normalized, obtain normalized probability function

Localization method the most according to claim 4, it is characterised in that the phase difference measurement of each phase measurement of described basis Value and described stationary radiant source are positioned at the probability function of each grid, calculate described stationary radiant source and are positioned at each grid Cumulative probability value, orientates the position coordinates tool in described stationary radiant source as by mesh coordinate corresponding for maximum in cumulative probability value Body is:

Phase difference measurement φ ' according to each phase measurement_jiWith described normalized probability functionCalculate Obtain described stationary radiant source and be positioned at the cumulative probability value of each grid be

By the maximum in cumulative probability valueAs described static The position coordinates of radiation source；

Wherein, the area-of-interest in stationary radiant source be (x, y) | x_L≤x≤x_U,y_L≤y≤y_U, Δ x, Δ y are grid stepping.

6. the positioner in a stationary radiant source, it is characterised in that described device includes:

Stress and strain model unit, for the area-of-interest in stationary radiant source is carried out uniform stress and strain model, obtains each net The coordinate of lattice；

Probability function computing unit, is positioned at the probability function of each grid for calculating described stationary radiant source；

Phase difference measurement acquiring unit, is used for using phase-interferometer that described stationary radiant source is carried out M phase measurement, To the phase difference measurement of each phase measurement, wherein M is the positive integer more than 1；

Positioning unit, for being positioned at each grid according to phase difference measurement and the described stationary radiant source of each phase measurement Probability function, calculate described stationary radiant source and be positioned at the cumulative probability value of each grid, by maximum in cumulative probability value Corresponding mesh coordinate orientates the position coordinates in described stationary radiant source as.

Device the most according to claim 6, it is characterised in that described probability function computing unit includes:

Set up module, for phase difference measurement estimated value φ according to phase-interferometer single phase measurement_ji(x_o,y_o,z_o)+e_ji, Set up described stationary radiant source be positioned at each grid basis probability function:

${P^{\&prime;}}_i(x_k,y_p,z_0)=\underset{j=1}{\overset{L}{\&Pi;}}f\left(\right({\mathrm{\&phi;}}_{ji}\left(x_o,y_o,z_o\right)+e_{ji}\left)\right|\left({\mathrm{\&phi;}}_{ji}\left(x_k,y_p,z_o\right),{\mathrm{\&sigma;}}_e^2\right));$

Computing module, for according to described phase difference measurement estimated value φ_ji(x_o,y_o,z_o)+e_jiWith phase difference measurement φ_ji' Corresponding relation φ_ji(x_o,y_o,z_o)+e_ji=φ_ji′+2n₁π and described stationary radiant source are positioned at the probability on the basis of each grid Function P'_i(x_k,y_p,z₀), it is calculated described stationary radiant source and is positioned at the probability function of each grid:

$P_i(x_k,y_p,z_0)=\underset{j=1}{\overset{L}{\&Pi;}}f\left(\right({{\mathrm{\&phi;}}_{ji}}^{\&prime;}+2n_1\mathrm{\&pi;}\left)\right|\left({\mathrm{\&phi;}}_{ji}\left(x_k,y_p,z_0\right)+2n_2\mathrm{\&pi;},{\mathrm{\&sigma;}}_e^2\right));$

Wherein, φ_ji(x, y, z)=k_j(u_i(x,y,z)·d_ji)/||d_ji| |, k_j=2 π k_0j, k_0jFor the j-th strip length of base and letter The ratio of number wavelength, u_i(x, y, z)=r_i(x,y,z)/||r_i(x, y, z) | |, r_iAntenna coordinate system initial point (x when measuring for i & lt_i, y_i,z_i) to stationary radiant source (x, y, vector z), r_i=(x-x_i,y-y_i,z-z_i), d_jiJ-th strip baseline structure when measuring for i & lt The vector become, | | d_ji| | for vector d_jiModulus value；e_jiFor phase difference measurement error, meet average be 0, variance beNormal state Distribution；n₁And n₂For positive integer, and n₂-n₁∈{-1,0,1}；φ_ji(x_o,y_o,z_o) it is that phase-interferometer j-th strip baseline i & lt is surveyed The phase contrast theoretical value of amount, φ_ji(x_o,y_o,z_o)+e_jiThe phase difference estimation measured for phase-interferometer j-th strip baseline i & lt Value, φ '_jiThe phase difference measurement measured for phase-interferometer j-th strip baseline i & lt.

Device the most according to claim 7, it is characterised in that described probability function computing unit also includes:

Optimize module, for according to qualifications:

With

To described probability function P_i(x_k,y_p,z₀) be optimized, the probability function after being optimized

Device the most according to claim 8, it is characterised in that described probability function computing unit also includes:

Normalization module, for the probability function P after described optimization_i*(x_k,y_p,z₀) be normalized, obtain normalization Probability function

Device the most according to claim 9, it is characterised in that described positioning unit includes:

Cumulative probability value computing module, for the phase difference measurement φ ' according to each phase measurement_jiWith described normalized probability letter NumberCalculate described stationary radiant source and be positioned at the cumulative probability value of each grid

Position coordinates determines module, for by the maximum in cumulative probability value Position coordinates as described stationary radiant source；

Wherein, the area-of-interest in stationary radiant source be (x, y) | x_L≤x≤x_U,y_L≤y≤y_U, Δ x, Δ y are grid stepping.