CN106093846B - A kind of localization method and device in stationary radiant source - Google Patents
A kind of localization method and device in stationary radiant source Download PDFInfo
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- CN106093846B CN106093846B CN201610403731.XA CN201610403731A CN106093846B CN 106093846 B CN106093846 B CN 106093846B CN 201610403731 A CN201610403731 A CN 201610403731A CN 106093846 B CN106093846 B CN 106093846B
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/04—Details
- G01S3/12—Means for determining sense of direction, e.g. by combining signals from directional antenna or goniometer search coil with those from non-directional antenna
Abstract
The invention discloses a kind of localization method and devices in stationary radiant source.The method includes：Uniform grid dividing is carried out to the area-of-interest in stationary radiant source, obtains the coordinate of each grid；Calculate the probability function that the stationary radiant source is located at each grid；M phase measurement is carried out to the stationary radiant source using phase-interferometer, obtains the phase difference measurement of each phase measurement, wherein M is the positive integer greater than 1；It is located at the probability function of each grid according to the phase difference measurement of each phase measurement and the stationary radiant source, the cumulative probability value that the stationary radiant source is located at each grid is calculated, the corresponding mesh coordinate of maximum value in cumulative probability value is positioned as to the position coordinates in the stationary radiant source.Technical solution of the present invention can correct ambiguity solution, reduce the probability of wrong ambiguity solution, promote positioning accuracy.
Description
Technical field
The present invention relates to spaceborne interferometer direction finding field of locating technology, in particular to a kind of localization method in stationary radiant source
And device.
Background technique
Interferometer surveys 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.Due to satellite platform limitation and influence of noise, that there are phase differences is fuzzy for direction-finding system, fuzzy (i.e. multiple directions can not for direction finding
Unique selection) and the problem of wrong ambiguity solution (i.e. wrong choice one direction), become interferometer and survey phase difference direction finding system
The restraining factors of efficient application.Wherein, phase difference is fuzzy and direction finding fuzzy problem has extensive research, and wrong ambiguity solution is asked
Topic then rarely has research.
Common ambiguity solution method, which has, examines the judgment method examined with F based on t, but still have can not for both methods
The probability of the even wrong ambiguity solution of ambiguity solution, especially when baseline wavelength is bigger or phase measurement error is larger above-mentioned probability without
Method is ignored.
Summary of the invention
In view of foregoing description, the present invention provides a kind of localization method and devices in stationary radiant source, to solve existing solution
In blur method can not ambiguity solution, mistake ambiguity solution the problem of.
In order to achieve the above objectives, the technical proposal of the invention is realized in this way：
On the one hand, the present invention provides a kind of localization method in stationary radiant source, the method includes：
Uniform grid dividing is carried out to the area-of-interest in stationary radiant source, obtains the coordinate of each grid；
Calculate the probability function that the stationary radiant source is located at each grid；
M phase measurement is carried out to the stationary radiant source using phase-interferometer, obtains the phase of each phase measurement
Aberration measurements, wherein M is the positive integer greater than 1；
It is located at the probability letter of each grid according to the phase difference measurement of each phase measurement and the stationary radiant source
Number, calculates the cumulative probability value that the stationary radiant source is located at each grid, by the corresponding net of maximum value in cumulative probability value
Lattice coordinate setting is the position coordinates in the stationary radiant source.
Preferably, described to calculate the probability function that the stationary radiant source is located at each grid and include：
According to the phase difference measurement estimated value φ of phase-interferometer single phase measurementji(xo,yo,zo)+eji, described in foundation
Stationary radiant source is located at the probability function on the basis of each grid：
According to the phase difference measurement estimated value φji(xo,yo,zo)+ejiWith phase difference measurement φji' corresponding relationship
φji(xo,yo,zo)+eji=φji′+2n1π and the stationary radiant source are located at the probability function P' on the basis of each gridi
(xk,yp,z0), the probability function that the stationary radiant source is located at each grid is calculated：
Wherein, φji(x, y, z)=kj(ui(x,y,z)·dji)/||dji| |, kj=2 π k0j, k0jFor j-th strip baseline length
The ratio between with signal wavelength, ui(x, y, z)=ri(x,y,z)/||ri(x, y, z) | |, riAntenna coordinate system is former when measuring for i-th
Point (xi,yi,zi) to the vector of stationary radiant source (x, y, z), ri=(x-xi,y-yi,z-zi), djiJ-th strip when being measured for i-th
The vector that baseline is constituted, | | dji| | it is vector djiModulus value；ejiFor phase difference measurement error, meet that mean value is 0, variance is
Normal distribution；n1And n2For positive integer, and n2-n1∈{-1,0,1}；φji(xo,yo,zo) it is phase-interferometer j-th strip baseline
The phase difference theoretical value of i-th measurement, φji(xo,yo,zo)+ejiFor the phase of phase-interferometer j-th strip baseline i-th measurement
Poor estimated value, φj'iFor the phase difference measurement of phase-interferometer j-th strip baseline i-th measurement.
Preferably, described to calculate the probability function that the stationary radiant source is located at each grid and further include：
According to qualifications：
With
To the probability function Pi(xk,yp,z0) optimize, the probability function after being optimized
Preferably, described to calculate the probability function that the stationary radiant source is located at each grid and further include：
To the probability function P after the optimizationi *(xk,yp,z0) be normalized, obtain normalized probability function
Preferably, the phase difference measurement of each phase measurement of the basis and the stationary radiant source are located at each net
The probability function of lattice calculates the cumulative probability value that the stationary radiant source is located at each grid, will be maximum in cumulative probability value
It is worth corresponding mesh coordinate and is positioned as the position coordinates in the stationary radiant source and is specially：
According to the phase difference measurement φ ' of each phase measurementjiWith the normalized probability function
The stationary radiant source is calculated it is located at the cumulative probability value of each grid and is
By the maximum value in cumulative probability valueAs described
The position coordinates in stationary radiant source；
Wherein, the area-of-interest in stationary radiant source be (x, y) | xL≤x≤xU,yL≤y≤yU, Δ x, Δ y are grid
Stepping.
On the other hand, the present invention provides a kind of positioning device in stationary radiant source, which includes：
Grid dividing unit carries out uniform grid dividing for the area-of-interest to stationary radiant source, obtains each
The coordinate of a grid；
Probability function computing unit, the probability function for being located at each grid for calculating the stationary radiant source；
Phase difference measurement acquiring unit is surveyed for carrying out M phase to the stationary radiant source using phase-interferometer
Amount, obtains the phase difference measurement of each phase measurement, and wherein M is the positive integer greater than 1；
Positioning unit, for being located at each according to the phase difference measurement and the stationary radiant source of each phase measurement
The probability function of grid calculates the cumulative probability value that the stationary radiant source is located at each grid, by cumulative probability value most
It is worth the position coordinates that corresponding mesh coordinate is positioned as the stationary radiant source greatly.
Preferably, the probability function computing unit includes:
Module is established, for the phase difference measurement estimated value φ according to phase-interferometer single phase measurementji(xo,yo,zo)
+eji, establish the probability function that the stationary radiant source is located at the basis of each grid：
Computing module, for according to the phase difference measurement estimated value φji(xo,yo,zo)+ejiWith phase difference measurement
φji' corresponding relationship φji(xo,yo,zo)+eji=φji′+2n1π and the stationary radiant source are located at the basis of each grid
Probability function P'i(xk,yp,z0), the probability function that the stationary radiant source is located at each grid is calculated：
Wherein, φji(x, y, z)=kj(ui(x,y,z)·dji)/||dji| |, kj=2 π k0j, k0jFor j-th strip baseline length
The ratio between with signal wavelength, ui(x, y, z)=ri(x,y,z)/||ri(x, y, z) | |, riAntenna coordinate system is former when measuring for i-th
Point (xi,yi,zi) to the vector of stationary radiant source (x, y, z), ri=(x-xi,y-yi,z-zi), djiJ-th strip when being measured for i-th
The vector that baseline is constituted, | | dji| | it is vector djiModulus value；ejiFor phase difference measurement error, meet that mean value is 0, variance is
Normal distribution；n1And n2For positive integer, and n2-n1∈{-1,0,1}；φji(xo,yo,zo) it is phase-interferometer j-th strip baseline
The phase difference theoretical value of i-th measurement, φji(xo,yo,zo)+ejiFor the phase of phase-interferometer j-th strip baseline i-th measurement
Poor estimated value, φ 'jiFor the phase difference measurement of phase-interferometer j-th strip baseline i-th measurement.
Preferably, the probability function computing unit further includes：
Optimization module, for according to qualifications：
With
To the probability function Pi(xk,yp,z0) optimize, the probability function after being optimized
Preferably, the probability function computing unit further includes：
Module is normalized, for the probability function P after the optimizationi *(xk,yp,z0) be normalized, returned
One probability function changed
Preferably, the positioning unit includes：
Cumulative probability value computing module, for the phase difference measurement φ ' according to each phase measurementjiWith the normalization
Probability functionCalculate the cumulative probability value that the stationary radiant source is located at each grid
Position coordinates determining module, for by the maximum value in cumulative probability value
Position coordinates as the stationary radiant source；
Wherein, the area-of-interest in stationary radiant source be (x, y) | xL≤x≤xU,yL≤y≤yU, Δ x, Δ y are grid
Stepping.
The beneficial effect of the embodiment of the present invention is：The present invention carries out grid by the area-of-interest to stationary radiant source and draws
Point, and obtain the probability function that stationary radiant source is located in each grid；Stationary radiant source is carried out using phase-interferometer true
Determine the phase measurement of number, to avoid mistake ambiguity solution caused by single phase measurement, each net is located at according to stationary radiant source
The phase difference measurement of probability function and each phase measurement in lattice is calculated stationary radiant source and is located at each grid
Cumulative probability value, due to be calculated based on multiple phase measurement cumulative probability distribution in, it is non-in area-of-interest
The corresponding cumulative probability value of each grid is much smaller than the corresponding accumulation of grid at stationary radiant source position at stationary radiant source position
Probability value, therefore the corresponding mesh coordinate of maximum value in cumulative probability value is determined that the localization method of positioning result can be solved correctly
It is fuzzy, the probability of wrong ambiguity solution is reduced, positioning accuracy is promoted.
Detailed description of the invention
Fig. 1 is the localization method flow chart in the stationary radiant source that embodiment one provides；
Fig. 2 is the schematic diagram of the earth connected coordinate system and phase-interferometer antenna coordinate system that embodiment one provides；
It is any that Fig. 3 is that the corresponding stationary radiant source of a phase measurement that provides of embodiment one is located at area-of-interest
Probability distribution schematic diagram in grid；
It is any that Fig. 4 is that the corresponding stationary radiant source of phase measurement twice that provides of embodiment one is located at area-of-interest
Probability distribution schematic diagram in grid；
Fig. 5 is the positioning device structure block diagram in the stationary radiant source that embodiment two provides.
Specific 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.
Whole design thought of the invention is：Mistake ambiguity solution present in phase difference direction finding system is surveyed for interferometer
Problem can promote the probability of correct ambiguity solution as theoretical foundation, by stationary radiant in the method for multiple phase difference measurement
The area-of-interest in source carries out grid dividing, calculates stationary radiant source and is located at the probability in each grid, is based on area-of-interest
The cumulative probability value of the multiple phase measurement of the corresponding interferometer of each grid at interior nonstatic radiation source positions is much smaller than phase
The fact that the corresponding cumulative probability value of grid at stationary radiant source position, realize the positioning to stationary radiant source.
Embodiment one
Fig. 1 is the localization method flow chart in stationary radiant source provided in this embodiment, as shown in Figure 1, the method packet in Fig. 1
It includes：
S110 carries out uniform grid dividing 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) | xL≤x≤xU,yL≤y≤yU, with net
Lattice stepping Δ x, Δ y carry out uniform grid dividing to the area-of-interest, for any grid (xk,yp) coordinate have：xk=
xL,xL+Δx,xL+2Δx,...,xU, yp=yL,yL+Δy,yL+2Δy,...,yU。
S120 calculates the probability function that stationary radiant source is located at each grid.
The probability function that stationary radiant source is located at each grid, the present embodiment definition are calculated in this step for ease of description
Coordinate-system as shown in Figure 2.
Fig. 2 is that the earth provided in this embodiment is connected the schematic diagram of coordinate system and phase-interferometer antenna coordinate system, in Fig. 2
Coordinate system XYZ be the earth be connected coordinate system, the earth be connected coordinate system be the coordinate system not changed over, remember stationary radiant source
Position be s, the earth be connected the coordinate in coordinate system be (xo,yo,zo)；Coordinate system X ' in Fig. 2iY’iZ’iFor phase interference
Antenna coordinate system when instrument i-th measures, origin O 'iThe coordinate in coordinate system is connected in the earth as (xi,yi,zi), according to phase
Position interferometer phase difference measurements are theoretical, phase difference reason of the available phase-interferometer j-th strip baseline in i-th phase measurement
It is by value：
φji(x, y, z)=kj(ui(x,y,z)·dji)/||dji|| (1)
In formula (1), φji(x, y, z)=kj(ui(x,y,z)·dji)/||dji| |, kj=2 π k0j, k0jFor j-th strip baseline
The ratio between length and signal wavelength, ui(x, y, z)=ri(x,y,z)/||ri(x, y, z) | |, riAntenna when for i-th phase measurement
Coordinate origin (xi,yi,zi) to the vector of stationary radiant source s (x, y, z), ri=(x-xi,y-yi,z-zi), djiFor i-th survey
The vector that j-th strip baseline is constituted when amount, | | dji| | it is vector djiModulus value.
It should be noted that present embodiment assumes that stationary radiant source s (xo,yo,zo) in elevation parameter zoIt is known that this reality
Parameter x in the s of stationary radiant source need to be determined by applying example onlyoAnd yo。
In step S120, calculates stationary radiant source s and be located at the probability function of each grid detailed process is as follows：
According to the phase difference measurement estimated value φ of phase-interferometer single phase measurementji(xo,yo,zo)+eji, establish static
Radiation source is located at the probability function on the basis of each grid：
In formula (2), ejiFor phase difference measurement error, meet that mean value is 0, variance isNormal distribution,
To be φ in mean valueji(xk,yp, zo), variance beJust
In state distribution, value φji(xo,yo,zo)+eji) probability density function.
The phase difference measurement φ obtained due to phase-interferometer measurementji' it is to pass through phase interference through folded value
The phase difference measurement φ that instrument phase measurement obtainsji' value range be-π≤φji'≤π, it is known that the phase difference in formula (2)
Measure estimated value φji(xo,yo,zo)+ejiWith phase difference measurement φji' usually differ complete cycle number, i.e. φji(xo,yo,zo)+eji
=φji′+2n1π.It, can be according to phase difference measurement estimated value φ based on thisji(xo,yo,zo)+ejiWith phase difference measurement φji′
Corresponding relationship φji(xo,yo,zo)+eji=φji′+2n1π rewrites formula (2), can be obtained and is surveyed based on phase difference
Magnitude φji' stationary radiant source be located at the probability function P of each gridi(xk,yp,z0)。
In formula (3), n1And n2For positive integer, due to phase difference measurement error ejiIt is typically small, usually less than 90 °, i.e., because
Phase difference measurement error ejiCaused φji(xo,yo,zo)+ejiAnd φji(xo,yo,zo) complete cycle number difference be not more than 1, therefore
The middle n of formula (3)2-n1∈{-1,0,1}。
Wherein, the φ in formula (3)ji(xk,yp,zo) meet formula (4)：
In formula (4), mod (A, B)=A-nB,| | it is the operator that takes absolute value,To be rounded downwards
Operator.
In a preferred embodiment of this embodiment, due to phase difference measurement error ejiIt is typically small, then
There is following derivation：
AndIt is available through deriving：
Due in formula (5)Greater than in formula (6)Therefore
Similarly, available
Based on above-mentioned qualifications, n can be calculated separately2-n1=-1, n2-n1=0, n2-n1It is general in formula (3) when=1
Rate function Pi(xk,yp,z0), the probability function of maximum value is chosen as the probability function after optimization.
Specifically, according to qualifications：
With
To the probability function P in formula (3)i(xk,yp,z0) optimize, the probability function after being optimized
Since the present embodiment promotes the probability of correct ambiguity solution using the method for multiple phase measurement, to avoid subsequent
In the process, calculate stationary radiant source be located at the cumulative probability value in each grid not factor value it is too small and generate calculate error,
Embodiment is preferably to the probability function P after optimizationi*(xk,yp,z0) be normalized.
Specifically, according to following formula to the probability function P after optimizationi*(xk,yp,z0) be normalized：
S130 carries out M phase measurement to stationary radiant source using phase-interferometer, obtains the phase of each phase measurement
Aberration measurements, wherein M is the positive integer greater than 1.
Wherein, M value can be determined according to emulation experiment or historical measurement data.
S140 is located at the probability letter of each grid according to the phase difference measurement of each phase measurement and stationary radiant source
Number calculates the cumulative probability value that stationary radiant source is located at each grid, and the corresponding grid of maximum value in cumulative probability value is sat
Mark is positioned as the position coordinates in stationary radiant source.
Since the phase difference measurement that phase-interferometer obtains the M phase measurement in stationary radiant source is mutually indepedent, because
This present embodiment can be according to the phase difference measurement φ ' of each phase measurementjiWith normalized probability function in formula (7)The cumulative probability value that stationary radiant source is located at each grid is calculated, stationary radiant source is obtained and is located at each
The cumulative probability value of grid is：
Then available according to formula (8), stationary radiant source is located at the cumulative probability value of each grid in area-of-interest, compares
The corresponding cumulative probability value of each grid, by the maximum value in cumulative probability value
As the position coordinates in the stationary radiant source, to realize the positioning to stationary radiant source.
The present embodiment carries out grid dividing by the area-of-interest to stationary radiant source, and obtains stationary radiant source and be located at
Probability function in each grid；It is determined the phase measurement of number, to stationary radiant source using phase-interferometer to avoid
Mistake ambiguity solution caused by single phase measurement, probability function and each phase being located in each grid according to stationary radiant source
The cumulative probability value that stationary radiant source is located at each grid is calculated in the phase difference measurement of measurement, due to based on multiple
In the cumulative probability distribution that phase measurement is calculated, each grid pair at nonstatic radiation source positions in area-of-interest
The cumulative probability value answered much smaller than the corresponding cumulative probability value of grid at stationary radiant source position, therefore by cumulative probability value most
Be worth greatly corresponding mesh coordinate determine positioning result localization method can correct ambiguity solution, reduce the probability of wrong ambiguity solution,
Promote positioning accuracy.
For the more figuratively beneficial effect of bright the present embodiment, it is illustrated below by a specific implementation：
Assume that stationary radiant source s is connected in the earth for easy calculating process, and without loss of generality, in this specific implementation
Coordinate in coordinate system XYZ is (0,0,0), and phase-interferometer is equally distributed five array element flat circle battle array phase-interferometer, should
A phase reference receiving channel, the X/Y plane of the connected coordinate system of the face earth, i.e. phase is arranged in the circle battle array center of phase-interferometer
The antenna coordinate system Z ' axis of interferometer and the connected coordinate system Z axis of the earth are reversed, and the antenna coordinate system origin O ' of phase-interferometer
It is (- 200+10t, -400+10t, 600) in the be connected coordinate that is changed over time in coordinate system XYZ of the earth.
Assuming that phase-interferometer, in t=1,2 ... integer moment carries out the phase measurement of each array element and reference channel, and
Phase measurement time is much smaller than time of measuring interval.
As the ratio between phase-interferometer j-th strip baseline length and signal wavelength k0j=55.5,When, pass through above-mentioned formula
(7) the corresponding normalization probability of the available phase difference measurement based on each phase measurementFurther according to
The cumulative probability value P that stationary radiant source is located at each grid can be calculated in formula (8)I=1,2 ... M(xk,yp,z0)。
This specific implementation by taking phase measurement number M=1 and M=2 as an example, illustrates phase measurement number value pair respectively
The influence of stationary radiant source positioning result：
As phase measurement number M=1, the position error that stationary radiant source is calculated is 225.016；Work as phase measurement
When number M=2, the position error that stationary radiant source is calculated is 1.It can be seen that when this specific implementation is using above-mentioned
Parameter combination (such as k0j=55.5,) when, phase-interferometer, which carries out phase measurement twice, can be obtained accurate static spoke
Penetrate the positioning result in source.Clearly for different parameter combinations, need to carry out sufficiently analysis with determination optimal phase measurement time
Number.
It should be noted that this specific implementation passes through position error formulaCalculate phase
The error of positioning result, wherein x when 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 the corresponding stationary radiant source of a phase measurement is located at area-of-interest
Probability distribution schematic diagram in any grid, Fig. 4 are that the corresponding stationary radiant source of phase measurement is located at region of interest twice
The probability distribution schematic diagram of probability distribution schematic diagram in any grid in domain, comparison diagram 3 and Fig. 4, can also intuitively find out, Fig. 3
Middle stationary radiant source is located in the probability distribution in any grid of area-of-interest, there are peak value similar in more height, have compared with
For manifest error ambiguity solution phenomenon, and stationary radiant source is located in the probability distribution in any grid of area-of-interest in Fig. 4,
Peak-peak is more obvious, efficiently solves the problems, such as wrong ambiguity solution.
Embodiment two
The present embodiment provides a kind of positioning device in stationary radiant source based on the technical concept being the same as example 1.
Fig. 5 is the positioning device structure block diagram in stationary radiant source provided in this embodiment, as shown in figure 5, the positioning device
Including：
Grid dividing unit 51 carries out uniform grid dividing for the area-of-interest to stationary radiant source, obtains every
The coordinate of one grid.
Probability function computing unit 52, the probability function for being located at each grid for calculating the stationary radiant source.
Phase difference measurement acquiring unit 53, for carrying out M phase to the stationary radiant source using phase-interferometer
Measurement, obtains the phase difference measurement of each phase measurement, and wherein M is the positive integer greater than 1.
Positioning unit 54, it is each for being located at according to the phase difference measurement of each phase measurement and the stationary radiant source
The probability function of a grid calculates the cumulative probability value that the stationary radiant source is located at each grid, will be in cumulative probability value
The corresponding mesh coordinate of maximum value is positioned as the position coordinates in the stationary radiant source.
The probability function computing unit 52 of the present embodiment includes:
Module is established, for the phase difference measurement estimated value φ according to phase-interferometer single phase measurementji(xo,yo,zo)
+eji, establish the probability function that stationary radiant source is located at the basis of each grid：
Computing module, for according to phase difference measurement estimated value φji(xo,yo,zo)+ejiWith phase difference measurement φji'
Corresponding relationship φji(xo,yo,zo)+eji=φji′+2n1π and stationary radiant source are located at the probability function on the basis of each grid
P'i(xk,yp,z0), the probability function that stationary radiant source is located at each grid is calculated：
Wherein, φji(x, y, z)=kj(ui(x,y,z)·dji)/||dji| |, kj=2 π k0j, k0jFor j-th strip baseline length
The ratio between with signal wavelength, ui(x, y, z)=ri(x,y,z)/||ri(x, y, z) | |, riAntenna coordinate system is former when measuring for i-th
Point (xi,yi,zi) to the vector of stationary radiant source (x, y, z), ri=(x-xi,y-yi,z-zi), djiJ-th strip when being measured for i-th
The vector that baseline is constituted, | | dji| | it is vector djiModulus value；ejiFor phase difference measurement error, meet that mean value is 0, variance is
Normal distribution；n1And n2For positive integer, and n2-n1∈{-1,0,1}；φji(xo,yo,zo) it is phase-interferometer j-th strip baseline
The phase difference theoretical value of i-th measurement, φji(xo,yo,zo)+ejiFor the phase of phase-interferometer j-th strip baseline i-th measurement
Poor estimated value, φ 'jiFor the phase difference measurement of phase-interferometer j-th strip baseline i-th measurement.
In a preferred embodiment of the present embodiment, probability function computing unit 52 further includes：Optimization module and normalization mould
Block；
Optimization module, for according to qualifications：
With
To the probability function Pi(xk,yp,z0) optimize, the probability function after being optimized
Module is normalized, for the probability function P after optimizationi*(xk,yp,z0) be normalized, obtain normalizing
The probability function of change
Positioning unit 54 includes：Cumulative probability value computing module and position coordinates determining module；
Cumulative probability value computing module, for the phase difference measurement φ ' according to each phase measurementjiWith the normalization
Probability functionCalculate the cumulative probability value that the stationary radiant source is located at each grid
Position coordinates determining module, for by the maximum value in cumulative probability value
Position coordinates as the stationary radiant source；
Wherein, the area-of-interest in stationary radiant source be (x, y) | xL≤x≤xU,yL≤y≤yU, Δ x, Δ y are grid
Stepping.
The specific working mode of each unit module of apparatus of the present invention embodiment may refer to embodiment of the method for the invention,
Details are not described herein.
In conclusion the present invention provides a kind of localization method and devices in stationary radiant source, by stationary radiant source
Area-of-interest carry out grid dividing, and obtain the probability function that stationary radiant source is located in each grid；It is dry using phase
Interferometer is determined the phase measurement of number to stationary radiant source, to avoid mistake ambiguity solution, root caused by single phase measurement
It is calculated according to the phase difference measurement that stationary radiant source is located at the probability function in each grid and each phase measurement static
Radiation source is located at the cumulative probability value of each grid, due in the cumulative probability being calculated based on multiple phase measurement
In distribution, the corresponding cumulative probability value of each grid is much smaller than stationary radiant source at nonstatic radiation source positions in area-of-interest
The corresponding cumulative probability value of grid at position, therefore the corresponding mesh coordinate of maximum value in cumulative probability value is determined into positioning result
Localization method can correct ambiguity solution, reduce the probability of wrong ambiguity solution, promote 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 (10)
1. a kind of localization method in stationary radiant source, which is characterized in that the method includes：
Uniform grid dividing is carried out to the area-of-interest in stationary radiant source, obtains the coordinate of each grid；
Calculate the probability function that the stationary radiant source is located at each grid；
M phase measurement is carried out to the stationary radiant source using phase-interferometer, the phase difference for obtaining each phase measurement is surveyed
Magnitude, wherein M is the positive integer greater than 1；
It is located at the probability function of each grid according to the phase difference measurement of each phase measurement and the stationary radiant source, counts
The cumulative probability value that the stationary radiant source is located at each grid is calculated, by the corresponding mesh coordinate of maximum value in cumulative probability value
It is positioned as the position coordinates in the stationary radiant source.
2. localization method according to claim 1, which is characterized in that the calculating stationary radiant source is located at each
The probability function of grid includes：
According to the phase difference measurement estimated value φ of phase-interferometer single phase measurementji(xo,yo,zo)+eji, establish described static
Radiation source is located at the probability function on the basis of each grid：
According to the phase difference measurement estimated value φji(xo,yo,zo)+ejiWith phase difference measurement φji' corresponding relationship φji
(xo,yo,zo)+eji=φji′+2n1π and the stationary radiant source are located at the probability function P' on the basis of each gridi(xk,
yp,z0), the probability function that the stationary radiant source is located at each grid is calculated：
Wherein, φji(x, y, z)=kj(ui(x,y,z)·dji)/||dji| |, kj=2 π k0j, k0jFor j-th strip baseline length and letter
The ratio between number wavelength, ui(x, y, z)=ri(x,y,z)/||ri(x, y, z) | |, riAntenna coordinate system origin (x when being measured for i-thi,
yi,zi) to the vector of stationary radiant source (x, y, z), ri=(x-xi,y-yi,z-zi), djiJ-th strip baseline structure when being measured for i-th
At vector, | | dji| | it is vector djiModulus value；ejiFor phase difference measurement error, meet that mean value is 0, variance isNormal state
Distribution；n1And n2For positive integer, and n2-n1∈{-1,0,1}；φji(xo,yo,zo) it is that phase-interferometer j-th strip baseline i-th is surveyed
The phase difference theoretical value of amount, φji(xo,yo,zo)+ejiFor the phase difference estimation of phase-interferometer j-th strip baseline i-th measurement
Value, φ 'jiFor the phase difference measurement of phase-interferometer j-th strip baseline i-th measurement, (xo,yo,zo) be stationary radiant source position
Set the coordinate being connected in coordinate system in the earth, (xk,yp,z0) be any grid coordinate.
3. localization method according to claim 2, which is characterized in that the calculating stationary radiant source is located at each
The probability function of grid further includes：
According to qualifications：
With
To the probability function Pi(xk,yp,z0) optimize, the probability function after being optimized
4. localization method according to claim 3, which is characterized in that the calculating stationary radiant source is located at each
The probability function of grid further includes：
To the probability function P after the optimizationi*(xk,yp,z0) be normalized, obtain normalized probability function
5. localization method according to claim 4, which is characterized in that the phase difference measurement of each phase measurement of basis
Value and the stationary radiant source are located at the probability function of each grid, calculate the stationary radiant source and are located at each grid
Cumulative probability value has the position coordinates that the corresponding mesh coordinate of maximum value in cumulative probability value is positioned as the stationary radiant source
Body is：
According to the phase difference measurement φ ' of each phase measurementjiWith the normalized probability functionIt calculates
Obtain the stationary radiant source and be located at the cumulative probability value of each grid be
By the maximum value in cumulative probability valueAs described static
The position coordinates of radiation source；
Wherein, the area-of-interest in stationary radiant source be (x, y) | xL≤x≤xU,yL≤y≤yU, Δ x, Δ y are grid stepping.
6. a kind of positioning device in stationary radiant source, which is characterized in that described device includes：
Grid dividing unit carries out uniform grid dividing for the area-of-interest to stationary radiant source, obtains each net
The coordinate of lattice；
Probability function computing unit, the probability function for being located at each grid for calculating the stationary radiant source；
Phase difference measurement acquiring unit is obtained for carrying out M phase measurement to the stationary radiant source using phase-interferometer
To the phase difference measurement of each phase measurement, wherein M is the positive integer greater than 1；
Positioning unit, for being located at each grid according to the phase difference measurement and the stationary radiant source of each phase measurement
Probability function, the cumulative probability value that the stationary radiant source is located at each grid is calculated, by maximum value in cumulative probability value
Corresponding mesh coordinate is positioned as the position coordinates in the stationary radiant source.
7. device according to claim 6, which is characterized in that the probability function computing unit includes:
Module is established, for the phase difference measurement estimated value φ according to phase-interferometer single phase measurementji(xo,yo,zo)+eji,
Establish the probability function that the stationary radiant source is located at the basis of each grid：
Computing module, for according to the phase difference measurement estimated value φji(xo,yo,zo)+ejiWith phase difference measurement φji'
Corresponding relationship φji(xo,yo,zo)+eji=φji′+2n1π and the stationary radiant source are located at the probability on the basis of each grid
Function P'i(xk,yp,z0), the probability function that the stationary radiant source is located at each grid is calculated：
Wherein, φji(x, y, z)=kj(ui(x,y,z)·dji)/||dji| |, kj=2 π k0j, k0jFor j-th strip baseline length and letter
The ratio between number wavelength, ui(x, y, z)=ri(x,y,z)/||ri(x, y, z) | |, riAntenna coordinate system origin (x when being measured for i-thi,
yi,zi) to the vector of stationary radiant source (x, y, z), ri=(x-xi,y-yi,z-zi), djiJ-th strip baseline when being measured for i-th
The vector of composition, | | dji| | it is vector djiModulus value；ejiFor phase difference measurement error, meet that mean value is 0, variance isJust
State distribution；n1And n2For positive integer, and n2-n1∈{-1,0,1}；φji(xo,yo,zo) it is phase-interferometer j-th strip baseline i-th
The phase difference theoretical value of measurement, φji(xo,yo,zo)+ejiFor the phase difference estimation of phase-interferometer j-th strip baseline i-th measurement
Value, φ 'jiFor the phase difference measurement of phase-interferometer j-th strip baseline i-th measurement, (xo,yo,zo) be stationary radiant source position
Set the coordinate being connected in coordinate system in the earth, (xk,yp,z0) be any grid coordinate.
8. device according to claim 7, which is characterized in that the probability function computing unit further includes：
Optimization module, for according to qualifications：
With
To the probability function Pi(xk,yp,z0) optimize, the probability function after being optimized
9. device according to claim 8, which is characterized in that the probability function computing unit further includes：
Module is normalized, for the probability function P after the optimizationi*(xk,yp,z0) be normalized, it is normalized
Probability function
10. device according to claim 9, which is characterized in that the positioning unit includes：
Cumulative probability value computing module, for the phase difference measurement φ ' according to each phase measurementjiWith it is described normalized
Probability functionCalculate the cumulative probability value that the stationary radiant source is located at each grid
Position coordinates determining module, for by the maximum value in cumulative probability value
Position coordinates as the stationary radiant source；
Wherein, the area-of-interest in stationary radiant source be (x, y) | xL≤x≤xU,yL≤y≤yU, Δ x, Δ y are grid stepping.
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