CN106249217B - A kind of single-shot receives the localization method and device of passive radar random targets more - Google Patents
A kind of single-shot receives the localization method and device of passive radar random targets more Download PDFInfo
- Publication number
- CN106249217B CN106249217B CN201610656208.8A CN201610656208A CN106249217B CN 106249217 B CN106249217 B CN 106249217B CN 201610656208 A CN201610656208 A CN 201610656208A CN 106249217 B CN106249217 B CN 106249217B
- Authority
- CN
- China
- Prior art keywords
- random targets
- channel
- dimensional surface
- random
- receiver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention provides the localization method and device that a kind of single-shot receives passive radar random targets more, belongs to Radar Technology field.It is low that there are security performances solving the positioning of existing target, and the problem that cost is more expensive.It include: to determine the coordinate position of transmitter and at least three not conllinear receivers in the two-dimensional surface of setting, wherein include i-th of receiver at least three not conllinear receivers；I-th of single-shot list that random targets in two-dimensional surface, transmitter and i-th of receiver are formed receives channel, passes through formulaDetermine that random targets receive i-th of direction finding model in channel in i-th of single-shot list；According to i-th of direction finding model, and at least three direction finding models that at least three not conllinear receivers determine, pass through formulaDetermine positioning result of the random targets in two-dimensional surface.
Description
Technical field
The invention belongs to Radar Technology field, the localization method that a kind of single-shot receives passive radar random targets more is related generally to
And device.
Background technique
Target is detected, positioned and is tracked be radar basic task.The fixed target positioning of large scene belongs to battlefield
The important content of Situation Awareness.Essentially, target positioning is identical as radar imagery property, when radar system resolution performance can
It obtains target position information and belongs to target positioning, belong to radar imagery when resolution performance can obtain target detail, therebetween
Boundary is simultaneously unintelligible.It is why less to target Position Research at present, it is because of SAR imaging technique comparative maturity.SAR at
As being broadly divided into satellite-borne SAR and airborne SAR imaging both of which.In above two mode, Space-borne SAR Imaging lacks real-time
Property, although and carried SAR flexibly, system but be easy by other side's fire attack.
In conclusion that there are security performances is low for target positioning in the prior art, and the problem that cost is more expensive.
Summary of the invention
The embodiment of the present invention provides the localization method and device that a kind of single-shot receives passive radar random targets more, to solve
That there are security performances is low for target positioning in the prior art, and the problem that cost is more expensive.
The embodiment of the present invention provides the localization method that a kind of single-shot receives passive radar random targets more, comprising:
In the two-dimensional surface of setting, the coordinate position of transmitter and at least three not conllinear receivers is determined, connect for i-th
Receipts machine does uniform circular motion around i-th of central point with i-th of radius, wherein at least three not conllinear receivers
Including i-th of receiver；
I-th of single-shot list that random targets in the two-dimensional surface, the transmitter and i-th of receiver are formed
Channel is received, by formula (1), determines that the random targets receive i-th of direction finding model in channel in i-th of single-shot list；
Institute is determined by formula (2) according at least three direction finding models that described at least three not conllinear receivers determine
State positioning result of the random targets in the two-dimensional surface；
The formula (1) is as follows:
The formula (2) is as follows:
Wherein, Fi(n, m) is i-th of direction finding model, positioning of F (n, the m) random targets in the two-dimensional surface
As a result,σ be it is described with
The scattering strength of machine target, λ are the signal wavelength of transmitter transmitting, Rt0The transmitter with and the random targets it
Between distance, (xn, ym) it is mesh coordinate, riFor i-th of radius, θiIt (k) is θi(t) discrete sampling form, (x0, y0) for institute
State coordinate value of the random targets in the two-dimensional surface, (xri, yri) it is i-th of receiver center of rotation coordinate, Fi(n,m,k)
For wave sampling matrix and Signal Matching Hadamard matrix nature, k is the kth time sampling in i-th of receiver rotation process.
Preferably, the i-th of the random targets in the two-dimensional surface, the transmitter and i-th of receiver formation
A single-shot list receives channel, by formula (1), determines that the random targets receive i-th of survey in channel in i-th of single-shot list
To model, comprising:
By following equation, determine the random targets, the transmitter and i-th of receiver in t moment,
I-th of single-shot list receives the oblique square course in channel:
In the m row in the two-dimensional surface that is located at of the random targets, the n-th column, and the coordinate of the random targets
For (xn,ym) when, the oblique square course in channel is received according to i-th of single-shot list, by following equation, is determined described positioned at (xn,
ym) point random targets position i-th of single-shot list receive channel demodulation after echo-signal:
According to following equation, the echo samples matrix of the random targets is determined:
A signal with the echo samples matrix of the random targets with identical size is determined by following equation
With matrix:
N=1 ..., N m=1 ..., M k=1 ..., K
By following equation, the echo samples matrix and the Signal Matching matrix of the random targets are determined
Hadamard product:
Wherein, Ri(t) when being t moment described in i-th single-shot list receive the oblique square course in channel, sn,m(t) it is described i-th
Single-shot list receives the echo-signal after the demodulation in channel, Si(n, m, k) is the echo samples matrix of the random targets, Gi(n,m,k)
To have the Signal Matching matrix of identical size, σ with the echo samples matrix of the random targetsn,mFor the random targets
Scattering strength, Rtn,mFor the distance between the random targets and the transmitter,N=1 ..., N m=
1 ..., M k=1 ..., K.
Preferably, (x is located at described in the determinationn,ym) the random targets position of point receives channel in i-th of single-shot list
Before echo-signal after demodulation, further includes:
When the single-frequency continuous wave signal frequency of transmitter transmitting is f, target scattering intensity is σ, passes through following equation
Determine that i-th of single-shot list receives the target echo signal after the demodulation in channel:
Wherein, s (t) is the target echo signal after the demodulation in i-th of single-shot list receipts channel.
The embodiment of the present invention also provides the positioning device that a kind of single-shot receives passive radar random targets more, comprising:
First determination unit, in the two-dimensional surface of setting, determining transmitter and at least three not conllinear receivers
Coordinate position, i-th of receiver do uniform circular motion around i-th of central point with i-th radius, wherein it is described at least
It include i-th of receiver in three not conllinear receivers；
Second determination unit, for the random targets in the two-dimensional surface, the transmitter and i-th of receiver
I-th of the single-shot list formed receives channel, by formula (1), determines that the random targets are received in channel in i-th of single-shot list
I-th of direction finding model；
Third determination unit, at least three direction finding models for being determined according to described at least three not conllinear receivers,
By formula (2), positioning result of the random targets in the two-dimensional surface is determined；
The formula (1) is as follows:
The formula (2) is as follows:
Wherein, Fi(n, m) is i-th of direction finding model, positioning of F (n, the m) random targets in the two-dimensional surface
As a result,σ be it is described with
The scattering strength of machine target, λ are the signal wavelength of transmitter transmitting, Rt0The transmitter with and the random targets it
Between distance, (xn, ym) it is mesh coordinate, riFor i-th of radius, θiIt (k) is θi(t) discrete sampling form, (x0, y0) for institute
State coordinate value of the random targets in the two-dimensional surface, (xri, yri) it is i-th of receiver center of rotation coordinate, Fi(n,m,k)
For wave sampling matrix and Signal Matching Hadamard matrix nature, k is the kth time sampling in i-th of receiver rotation process.
Preferably, second determination unit is specifically used for:
By following equation, determine the random targets, the transmitter and i-th of receiver in t moment,
I-th of single-shot list receives the oblique square course in channel:
In the m row in the two-dimensional surface that is located at of the random targets, the n-th column, and the coordinate of the random targets
For (xn,ym) when, the oblique square course in channel is received according to i-th of single-shot list, by following equation, is determined described positioned at (xn,
ym) point random targets position i-th of single-shot list receive channel demodulation after echo-signal:
According to following equation, the echo samples matrix of the random targets is determined:
A signal with the echo samples matrix of the random targets with identical size is determined by following equation
With matrix:
N=1 ..., N m=1 ..., M k=1 ..., K
By following equation, the echo samples matrix and the Signal Matching matrix of the random targets are determined
Hadamard product:
Wherein, Ri(t) when being t moment described in i-th single-shot list receive the oblique square course in channel, sn,m(t) it is described i-th
Single-shot list receives the echo-signal after the demodulation in channel, Si(n, m, k) is the echo samples matrix of the random targets, Gi(n,m,k)
To have the Signal Matching matrix of identical size, σ with the echo samples matrix of the random targetsn,mFor the random targets
Scattering strength, Rtn,mFor the distance between the random targets and the transmitter,N=1 ..., N m=
1 ..., M k=1 ..., K.
Preferably, second determination unit is also used to:
When the single-frequency continuous wave signal frequency of transmitter transmitting is f, target scattering intensity is σ, passes through following equation
Determine that i-th of single-shot list receives the target echo signal after the demodulation in channel:
Wherein, s (t) is the target echo signal after the demodulation in i-th of single-shot list receipts channel.
In embodiments of the present invention, localization method and device that a kind of single-shot receives passive radar random targets more, packet are provided
It includes: in the two-dimensional surface of setting, determining the coordinate position of transmitter and at least three not conllinear receivers, i-th of receiver
Uniform circular motion is done around i-th of central point with i-th of radius, wherein includes at least three not conllinear receivers
I-th of receiver；The i-th of random targets in the two-dimensional surface, the transmitter and i-th of receiver formation
A single-shot list receives channel, passes through formulaDetermine the random targets in i-th of single-shot
Single i-th of direction finding model received in channel；According to the described at least three at least three direction finding models that conllinear receivers do not determine,
Pass through formulaDetermine positioning knot of the random targets in the two-dimensional surface
Fruit；Wherein, Fi(n, m) be i-th of direction finding model, positioning result of F (n, the m) random targets in the two-dimensional surface,σ is the random mesh
Target scattering strength, λ are the signal wavelength of transmitter transmitting, Rt0It is the transmitter and between the random targets
Distance, (xn, ym) it is mesh coordinate, riFor i-th of radius, θiIt (k) is θi(t) discrete sampling form, (x0, y0) be it is described with
Coordinate value of the machine target in the two-dimensional surface, (xri, yri) it is i-th of receiver center of rotation coordinate, Fi(n, m, k) is wave
Sampling matrix and Signal Matching Hadamard matrix nature, k are the kth time sampling in i-th of receiver rotation process.In this hair
It is not conllinear and do uniform circular motion around respective center of rotation using at least three using a transmitter in bright embodiment
Receiving mechanism at a single-shot more receive passive radar positioning system.By to each receiver, target, trigger mechanism at
Signal path is handled, and azimuth of the target relative to receiver center of rotation can be obtained.Each channel processing result is comprehensive
The positioning to target is realized in conjunction processing, the position of available target.It is right due to using passive radar mode in the above method
Signal bandwidth has no requirement, and system survivability is strong, cheap, can be simultaneously to multiple random targets in direction finding region
It is positioned, that there are security performances is low for target positioning so as to solving in the prior art, and the problem that cost is more expensive.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the localization method process signal that a kind of single-shot provided in an embodiment of the present invention receives passive radar random targets more
Figure；
Fig. 2 is positioning system schematic diagram provided in an embodiment of the present invention；
Fig. 3 is single goal positioning result schematic diagram provided in an embodiment of the present invention；
Fig. 4 is Multi-target position result schematic diagram provided in an embodiment of the present invention；
Fig. 5 is the positioning device structure signal that a kind of single-shot provided in an embodiment of the present invention receives passive radar random targets more
Figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 illustratively shows the positioning that a kind of single-shot provided in an embodiment of the present invention receives passive radar random targets more
Method flow schematic diagram, this method can be applied in radar fix technology.
As shown in Figure 1, a kind of single-shot provided in an embodiment of the present invention receives the localization method of passive radar random targets more, it is main
Want the following steps are included:
Step 101, in the two-dimensional surface of setting, the coordinate bit of transmitter and at least three not conllinear receivers is determined
It sets, i-th of receiver does uniform circular motion around i-th of central point with i-th of radius, wherein described at least three untotal
It include i-th of receiver in line receiver；
Step 102, the i-th of the random targets in the two-dimensional surface, the transmitter and i-th of receiver formation
A single-shot list receives channel, by formula (1), determines that the random targets receive i-th of survey in channel in i-th of single-shot list
To model；
Step 103, at least three direction finding models determined according to described at least three not conllinear receivers, pass through formula
(2), positioning result of the random targets in the two-dimensional surface is determined；
The formula (1) is as follows:
The formula (2) is as follows:
Wherein, Fi(n, m) is i-th of direction finding model, positioning of F (n, the m) random targets in the two-dimensional surface
As a result,σ be it is described with
The scattering strength of machine target, λ are the signal wavelength of transmitter transmitting, Rt0The transmitter with and the random targets it
Between distance, (xn, ym) it is mesh coordinate, riFor i-th of radius, θiIt (k) is θi(t) discrete sampling form, (x0, y0) for institute
State coordinate value of the random targets in the two-dimensional surface, (xri, yri) it is i-th of receiver center of rotation coordinate, Fi(n,m,k)
For wave sampling matrix and Signal Matching Hadamard matrix nature, k is the kth time sampling in i-th of receiver rotation process.
Fig. 2 is positioning system schematic diagram provided in an embodiment of the present invention, as shown in Fig. 2, in embodiments of the present invention, in addition
For the transmitter of radiation source, random targets and i-th of receiver, single-shot is discussed in detail and receives determining for the fixed target of passive radar more
Position method, wherein i-th of receiver is one of receiver at least three receivers.
It should be noted that the minimum number for the receiver being arranged in two-dimensional surface there should be three, there can also be more,
In embodiments of the present invention, specific restriction is not done to the quantity of the receiver set in two-dimensional surface.
In a step 101, the coordinate model for being positioned is established in the two-dimensional surface of setting, in coordinate model
Determine the coordinate position of transmitter and at least three not conllinear receivers.Wherein, i-th of receiver surrounds i-th with i-th of radius
A central point does operation circular motion.
It should be noted that i-th of receiver is any one at least three not conllinear receivers.That is i=1,
2 ..., W, W are equal with two-dimensional surface inner receiver quantity.
In embodiments of the present invention, it is assumed that the coordinate of the random targets in two-dimensional surface is (x0,y0), then it, can successively really
The coordinate for determining transmitter is (xt,yt), the coordinate of i-th of receiver is (xri,yri), further, it is determined that i-th of receiver arrives
The azimuth of random targets is θi(t)=ωit+θ0i, wherein ωiAnd θ0iIt is the angular speed and initial phase of i-th of receiver respectively
Parallactic angle；The distance of transmitter to random targets is Rt0, i-th of receiver center of rotation to target range is Rri, random targets phase
Azimuth for each receiver center of rotation is respectively αi。
In a step 102, in embodiments of the present invention, because the echo signal processing method in each observation channel is identical,
A wherein observation channel progress frequency domain algorithm research is taken so appointing below, selection is by transmitter, random targets and i-th below
Receiving mechanism at i-th of single-shot list receive channel for, introduce single-shot list receive channel in direction finding result.
In transmitter, coordinate is (x0,y0) random targets, i-th of single-shot list being formed of i-th receiver receive in channel,
Determine that i-th of single-shot list of t moment receives the oblique square course in channel by following equation (3).
Specifically, formula (3) is as follows:
Wherein, Ri(t) when being t moment described in i-th single-shot list receive the oblique square course in channel.
In practical applications, according to the transmitting signal wave for the single-frequency continuous wave signal that frequency is f, target scattering intensity is
σ, the then target echo signal after can determining demodulation can be indicated by following equation (4):
Specifically, formula (4) is as follows:
Wherein, s (t) is the target echo signal after the demodulation in i-th of single-shot list receipts channel.
It should be noted that after the oblique square course that i-th of single-shot list that above-mentioned formula (3) determine receives channel, it is assumed that two
Dimensional plane is rectangular area, which is divided into M row N column, and random targets are located at the m row in rectangular area, n-th
When column, then it can determine that the coordinate of random targets is (xn,ym)。
It is located at (x it is possible to further determine by following equation (5)n,ym) point random targets position in i-th of single-shot list
Echo-signal after receiving the demodulation in channel.
Specifically, formula (5) is as follows:
Wherein, sn,m(t) echo-signal after receiving the demodulation in channel for i-th of single-shot list, σn,mFor random targets
Scattering strength, Rtn,mFor the distance between random targets and transmitter.
Further, it is assumed that in i-th of receiver during surrounding origin uniform circular motion, sample K times altogether, and every
Secondary sampling step length is 2 π/Krad, then the echo samples matrix of random targets can be indicated by following equation (6):
Specifically, formula (6) is as follows:
Wherein, Si(n, m, k) is the echo samples matrix of the random targets,
Further, a Signal Matching matrix with random targets echo samples matrix with identical size, tool are constructed
Body, which can be indicated by following equation (7):
Wherein, Gi(n, m, k) is the Signal Matching square for having identical size with the echo samples matrix of the random targets
Battle array.
By formula (6) and formula (7), echo samples matrix and Signal Matching matrix can be further determined
Hadamard product, specifically, echo samples matrix and Signal Matching Hadamard matrix nature can pass through following equation (8) table
Show:
Wherein, Fi(n, m, k) is wave sampling matrix and Signal Matching Hadamard matrix nature, and k is that i-th of receiver turns
Kth time sampling during dynamic.
It should be noted that above-mentioned formula (8) is it is confirmed that i-th of single-shot list receives the direction finding in channel as a result, due to above-mentioned
Assuming that two-dimensional surface is rectangle, and the rectangular area is divided into M row N column, and the coordinate of random targets is (x0,y0), then it can be into
One step determines i-th direction finding model of the random targets in i-th of single-shot list receipts channel by following equation (1).
Specifically, formula (1) is as follows:
Wherein, Fi(n, m) is i-th of direction finding model.
It should be noted that the judgement of random targets azimuth may be implemented under single-shot list receipts mode.If realizing list
The positioning of a random targets then at least needs two receivers in two-dimensional surface, constitutes single-emission and double-receiving system, two receivers
The point of intersection of azimuth direction is exactly the position of the random targets.But it will appear when being positioned in two-dimensional surface to multiple targets
It crosses multiple intersection points and can not differentiate random targets position.Therefore, this method can not be applied to Multi-target position.Of the invention real
Apply in example, to be positioned to multiple random targets, then at least needed less in two-dimensional surface three not on the same line
Receiver.
It in step 103, then can be according to above-mentioned step due to having at least three not conllinear receivers in two-dimensional surface
Rapid 102 algorithms provided successively determine that each receiver, transmitter and random targets are formed by the survey in single-shot list receipts channel
To model, in embodiments of the present invention, according at least three not conllinear receivers, the hair that transmitter and random targets successively determine
Single direction finding model received in channel, can determine positioning knot of the random targets in the two-dimensional surface by following equation (2)
Fruit.
Specifically, formula (2) is as follows:
Wherein, positioning result of F (n, the m) random targets in the two-dimensional surface.
In embodiments of the present invention, not conllinear and surround respective center of rotation using at least three using a transmitter
Do the passive radar positioning system that the receiving mechanism of uniform circular motion is received more at a single-shot.By to each receiver, mesh
Mark, trigger mechanism at signal path handled, azimuth of the target relative to receiver center of rotation can be obtained.It will be each
The positioning to target is realized in channel processing result integrated treatment, the position of available target.Due to using nothing in the above method
Source radar mode, has no requirement to signal bandwidth, and system survivability is strong, cheap, can be simultaneously to direction finding region
Interior multiple random targets are positioned, and that there are security performances is low for target positioning so as to solving in the prior art, and cost ratio
Costly the problem of.
Following with MATLAB software, the localization method of passive radar random targets is received to a kind of single-shot of above-mentioned introduction more
Emulation experiment is carried out, by emulation experiment, the random mesh of passive radar can mostly be received to a kind of single-shot provided in an embodiment of the present invention
Target localization method is further described.
Simulated conditions
External sort algorithm position is (3000m, 5000m), signal frequency 1GHz.The center position of three receivers point
Not Wei (0m, 0m), (6000m, 0m), (0m, 8000m), the radius of gyration is respectively 20m, 30m, 20m.Target scattering intensity is equal
It is 1.It in simulation process, samples 600 times altogether, the sampling step length of receiver 1 is π/300rad, and turn of receiver 2 and receiver 3
Dynamic angular speed is respectively 1.2 and 1.3 times of receiver 1, so its sampling step length is also 1.2 and 1.3 times of receiver 1.Emulation
As a result middle circle indicates the actual position of target.
Emulation content
Emulation experiment 1: there are a target in localization region, position is (2000m, 2000m), and Fig. 3 is that the present invention is implemented
The positioning result schematic diagram for the monocular that example provides.As shown in figure 3, three, left side sub-chart shows the processing of three receivers in Fig. 3
As a result F1(n,m)、F2(n, m) and F3(n, m), it can be seen that its processing result is the straight line by target.Shown on the right of Fig. 3
For the processing result that algorithm is last, it can be seen that target is accurately positioned.
Emulation experiment 2: 10 targets are randomly generated, the echo-signal signal-to-noise ratio that three receivers receive is 5dB.Figure
4 be Multi-target position result schematic diagram provided in an embodiment of the present invention.As shown in Figure 4, it can be seen that even if in noisy feelings
Under condition, this algorithm still accurately positions 10 targets.
Based on the same inventive concept, the positioning that the embodiment of the present invention provides a kind of single-shot mostly receipts passive radar random targets fills
It sets, since the principle that the device solves technical problem is similar to a kind of single-shot mostly receipts localization method of passive radar random targets,
Therefore the implementation of the device may refer to the implementation of method, and overlaps will not be repeated.
Fig. 5 illustrates for the positioning device structure that the embodiment of the present invention also provides a kind of single-shot mostly receipts passive radar random targets
Figure.As shown in Figure 5, comprising: the first determination unit 51, the second determination unit 52 and third determination unit 53.
First determination unit 51, in the two-dimensional surface of setting, determining that transmitter and at least three do not receive collinearly
The coordinate position of machine, i-th of receiver do uniform circular motion around i-th of central point with i-th radius, wherein it is described extremely
It include i-th of receiver in few three not conllinear receivers；
Second determination unit 52, for the random targets in the two-dimensional surface, the transmitter and i-th of reception
I-th of single-shot list that machine is formed receives channel, by formula (1), determines that the random targets receive channel in i-th of single-shot list
I-th interior of direction finding model；
Third determination unit 53, at least three direction finding moulds for being determined according to described at least three not conllinear receivers
Type determines positioning result of the random targets in the two-dimensional surface by formula (2)；
The formula (1) is as follows:
The formula (2) is as follows:
Wherein, Fi(n, m) is i-th of direction finding model, positioning of F (n, the m) random targets in the two-dimensional surface
As a result,σ be it is described with
The scattering strength of machine target, λ are the signal wavelength of transmitter transmitting, Rt0The transmitter with and the random targets it
Between distance, (xn, ym) it is mesh coordinate, riFor i-th of radius, θiIt (k) is θi(t) discrete sampling form, (x0, y0) for institute
State coordinate value of the random targets in the two-dimensional surface, (xri, yri) it is i-th of receiver center of rotation coordinate, Fi(n,m,k)
For wave sampling matrix and Signal Matching Hadamard matrix nature, k is the kth time sampling in i-th of receiver rotation process.
Preferably, second determination unit 52 is specifically used for:
By following equation, determine the random targets, the transmitter and i-th of receiver in t moment,
I-th of single-shot list receives the oblique square course in channel:
In the m row in the two-dimensional surface that is located at of the random targets, the n-th column, and the coordinate of the random targets
For (xn,ym) when, the oblique square course in channel is received according to i-th of single-shot list, by following equation, is determined described positioned at (xn,
ym) point random targets position i-th of single-shot list receive channel demodulation after echo-signal:
According to following equation, the echo samples matrix of the random targets is determined:
A signal with the echo samples matrix of the random targets with identical size is determined by following equation
With matrix:
N=1 ..., N m=1 ..., M k=1 ..., K
By following equation, the echo samples matrix and the Signal Matching matrix of the random targets are determined
Hadamard product:
Wherein, Ri(t) when being t moment described in i-th single-shot list receive the oblique square course in channel, sn,m(t) it is described i-th
Single-shot list receives the echo-signal after the demodulation in channel, Si(n, m, k) is the echo samples matrix of the random targets, Gi(n,m,k)
To have the Signal Matching matrix of identical size, σ with the echo samples matrix of the random targetsn,mFor the random targets
Scattering strength, Rtn,mFor the distance between the random targets and the transmitter,N=1 ..., N m=
1 ..., M k=1 ..., K.
Preferably, second determination unit 52 is also used to:
When the single-frequency continuous wave signal frequency of transmitter transmitting is f, target scattering intensity is σ, passes through following equation
Determine that i-th of single-shot list receives the target echo signal after the demodulation in channel:
Wherein, s (t) is the target echo signal after the demodulation in i-th of single-shot list receipts channel.
It should be appreciated that one of the above single-shot more receive passive radar random targets positioning device include unit only according to
The logical partitioning that the function that the apparatus is realized carries out in practical application, can carry out the superposition or fractionation of said units.And
And a kind of single-shot that the embodiment provides receives function and above-mentioned implementation that the positioning device of passive radar random targets is realized more
The localization method that a kind of single-shot that example provides receives passive radar random targets more corresponds, which is realized more
Detailed process flow has been described in detail in above method embodiment one, has been not described in detail herein.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (6)
1. the localization method that a kind of single-shot receives passive radar random targets more characterized by comprising
In the two-dimensional surface of setting, the coordinate position of transmitter and at least three not conllinear receivers, i-th of receiver are determined
Uniform circular motion is done around i-th of central point with i-th of radius, wherein includes at least three not conllinear receivers
I-th of receiver；
I-th of single-shot list that random targets in the two-dimensional surface, the transmitter and i-th of receiver are formed is received logical
Road determines that the random targets receive i-th of direction finding model in channel in i-th of single-shot list by formula (1)；
According to the described at least three at least three direction finding models that conllinear receivers do not determine, by formula (2), determine it is described with
Positioning result of the machine target in the two-dimensional surface；
The formula (1) is as follows:
The formula (2) is as follows:
Wherein, Fi(n, m) be i-th of direction finding model, positioning result of F (n, the m) random targets in the two-dimensional surface,σ is the random mesh
Target scattering strength, λ are the signal wavelength of transmitter transmitting, Rt0It is the transmitter and between the random targets
Distance, (xn, ym) it is mesh coordinate, riFor i-th of radius, θiIt (k) is θi(t) discrete sampling form, (x0, y0) be it is described with
Coordinate value of the machine target in the two-dimensional surface, (xri, yri) it is i-th of receiver center of rotation coordinate, Fi(n, m, k) is wave
Sampling matrix and Signal Matching Hadamard matrix nature, k are the kth time sampling in i-th of receiver rotation process, and m is represented
Certain row in two-dimensional surface, i.e. m row, n represent certain column in two-dimensional surface, i.e., the n-th column.
2. the method as described in claim 1, which is characterized in that the random targets in the two-dimensional surface, the transmitter and
I-th of single-shot list that i-th of receiver is formed receives channel and determines the random targets described i-th by formula (1)
A single-shot list receives i-th of direction finding model in channel, comprising:
By following equation, determine the random targets, the transmitter and i-th of receiver in t moment, it is described
I-th of single-shot list receives the oblique square course in channel:
In the m row in the two-dimensional surface that is located at of the random targets, the n-th column, and the coordinate of the random targets is (xn,
ym) when, the oblique square course in channel is received according to i-th of single-shot list, by following equation, is determined described positioned at (xn,ym) point
Echo-signal of the random targets position after the demodulation that i-th of single-shot list receives channel:
According to following equation, the echo samples matrix of the random targets is determined:
A Signal Matching square with the echo samples matrix of the random targets with identical size is determined by following equation
Battle array:
N=1 ..., N m=1 ..., M k=1 ..., K
By following equation, the echo samples matrix and the Signal Matching matrix of the random targets are determined
Hadamard product:
Wherein, Ri(t) when being t moment described in i-th single-shot list receive the oblique square course in channel, sn,mIt (t) is i-th of single-shot list
Echo-signal after receiving the demodulation in channel, Si(n, m, k) is the echo samples matrix of the random targets, Gi(n, m, k) for institute
The echo samples matrix for stating random targets has the Signal Matching matrix of identical size, σn,mScattering for the random targets is strong
Degree, Rtn,mFor the distance between the random targets and the transmitter,N=1 ..., N m=1 ..., M
K=1 ..., K.
3. method according to claim 2, which is characterized in that be located at (x described in the determinationn,ym) point random targets position exist
I-th of single-shot list is received before the echo-signal after the demodulation in channel, further includes:
When the single-frequency continuous wave signal frequency of transmitter transmitting is f, target scattering intensity is σ, is determined by following equation
I-th of single-shot list receives the target echo signal after the demodulation in channel:
Wherein, s (t) is the target echo signal after the demodulation in i-th of single-shot list receipts channel.
4. the positioning device that a kind of single-shot receives passive radar random targets more characterized by comprising
First determination unit, in the two-dimensional surface of setting, determining the seat of transmitter and at least three not conllinear receivers
Cursor position, i-th of receiver do uniform circular motion around i-th of central point with i-th of radius, wherein described at least three
It include i-th of receiver in not conllinear receiver；
Second determination unit, for the random targets in the two-dimensional surface, the transmitter and i-th of receiver are formed
I-th of single-shot list receive channel, by formula (1), determine that the random targets receive the in channel in i-th of single-shot list
I direction finding model；
Third determination unit, at least three direction finding models for being determined according to described at least three not conllinear receivers, passes through
Formula (2) determines positioning result of the random targets in the two-dimensional surface；
The formula (1) is as follows:
The formula (2) is as follows:
Wherein, Fi(n, m) be i-th of direction finding model, positioning result of F (n, the m) random targets in the two-dimensional surface,σ is the random mesh
Target scattering strength, λ are the signal wavelength of transmitter transmitting, Rt0It is the transmitter and between the random targets
Distance, (xn, ym) it is mesh coordinate, riFor i-th of radius, θiIt (k) is θi(t) discrete sampling form, (x0, y0) be it is described with
Coordinate value of the machine target in the two-dimensional surface, (xri, yri) it is i-th of receiver center of rotation coordinate, Fi(n, m, k) is wave
Sampling matrix and Signal Matching Hadamard matrix nature, k are the kth time sampling in i-th of receiver rotation process, and m is represented
Certain row in two-dimensional surface, i.e. m row, n represent certain column in two-dimensional surface, i.e., the n-th column.
5. device as claimed in claim 4, which is characterized in that second determination unit is specifically used for:
By following equation, determine the random targets, the transmitter and i-th of receiver in t moment, it is described
I-th of single-shot list receives the oblique square course in channel:
In the m row in the two-dimensional surface that is located at of the random targets, the n-th column, and the coordinate of the random targets is (xn,
ym) when, the oblique square course in channel is received according to i-th of single-shot list, by following equation, is determined described positioned at (xn,ym) point
Echo-signal of the random targets position after the demodulation that i-th of single-shot list receives channel:
According to following equation, the echo samples matrix of the random targets is determined:
A Signal Matching square with the echo samples matrix of the random targets with identical size is determined by following equation
Battle array:
N=1 ..., N m=1 ..., M k=1 ..., K
By following equation, the echo samples matrix and the Signal Matching matrix of the random targets are determined
Hadamard product:
Wherein, i-th of single-shot list described in when Ri (t) is t moment receives the oblique square course in channel, sn,mIt (t) is i-th of single-shot
Echo-signal after single demodulation for receiving channel, Si(n, m, k) is the echo samples matrix of the random targets, Gi(n, m, k) be with
The echo samples matrix of the random targets has the Signal Matching matrix of identical size, σn,mFor the scattering of the random targets
Intensity, Rtn,mFor the distance between the random targets and the transmitter,N=1 ..., N m=
1 ..., M k=1 ..., K.
6. device as claimed in claim 5, which is characterized in that second determination unit is also used to:
When the single-frequency continuous wave signal frequency of transmitter transmitting is f, target scattering intensity is σ, is determined by following equation
I-th of single-shot list receives the target echo signal after the demodulation in channel:
Wherein, s (t) is the target echo signal after the demodulation in i-th of single-shot list receipts channel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610656208.8A CN106249217B (en) | 2016-08-11 | 2016-08-11 | A kind of single-shot receives the localization method and device of passive radar random targets more |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610656208.8A CN106249217B (en) | 2016-08-11 | 2016-08-11 | A kind of single-shot receives the localization method and device of passive radar random targets more |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106249217A CN106249217A (en) | 2016-12-21 |
| CN106249217B true CN106249217B (en) | 2019-05-07 |
Family
ID=58079308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610656208.8A Expired - Fee Related CN106249217B (en) | 2016-08-11 | 2016-08-11 | A kind of single-shot receives the localization method and device of passive radar random targets more |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106249217B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108427111B (en) * | 2017-02-13 | 2020-06-16 | 华为技术有限公司 | Radar ranging method and device |
| CN106908793A (en) * | 2017-04-17 | 2017-06-30 | 王辉 | Ka wave band along-trade INSAR systems and its method of work |
| CN107450065A (en) * | 2017-08-07 | 2017-12-08 | 中国民航大学 | A kind of inexpensive SUAV surveillance radar |
| CN108363045B (en) * | 2018-02-09 | 2020-06-16 | 周口师范学院 | Passive radar direction finding method and system based on single-receiver composite scanning |
| CN108333586B (en) * | 2018-02-09 | 2020-03-27 | 周口师范学院 | Passive radar direction finding method and system based on double-receiver vertical cross scanning |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2954514A1 (en) * | 2009-12-23 | 2011-06-24 | Thales Sa | Radar echo generator for generating test echoes to test performance of passive voluminal antenna radar, has generating units generating simulation track from signal for track of receiver by sensor associated with reception of signal |
| CN102819008A (en) * | 2011-06-07 | 2012-12-12 | 中国人民解放军海军航空工程学院 | Non-cooperative radar radiation source positioning method based on nonlinear least squares |
| CN105137417A (en) * | 2015-08-17 | 2015-12-09 | 周口师范学院 | Fixed target time domain positioning method of bistatic radar |
-
2016
- 2016-08-11 CN CN201610656208.8A patent/CN106249217B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2954514A1 (en) * | 2009-12-23 | 2011-06-24 | Thales Sa | Radar echo generator for generating test echoes to test performance of passive voluminal antenna radar, has generating units generating simulation track from signal for track of receiver by sensor associated with reception of signal |
| CN102819008A (en) * | 2011-06-07 | 2012-12-12 | 中国人民解放军海军航空工程学院 | Non-cooperative radar radiation source positioning method based on nonlinear least squares |
| CN105137417A (en) * | 2015-08-17 | 2015-12-09 | 周口师范学院 | Fixed target time domain positioning method of bistatic radar |
Non-Patent Citations (2)
| Title |
|---|
| Robust multiple-input multiple-output radar waveform design in the presence of clutter;Yuchun Liu et al.;《IET Radar, Sonar & Navigation》;20160725;第1240-1259页 |
| 多发多收的无源雷达成像研究;刘玉春 等;《湘潭大学自然科学学报》;20160630;第94-98页 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106249217A (en) | 2016-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106249217B (en) | A kind of single-shot receives the localization method and device of passive radar random targets more | |
| CN111542764B (en) | System and method for determining spin axes of sport balls | |
| CN109959932A (en) | Radar foresight three-D imaging method based on descending branch curvilinear path | |
| CN106772337B (en) | A kind of two layers of dielectric object localization method of frequency diversity array based on MUSIC algorithm | |
| CN106772290B (en) | A kind of complete polarization bistatic radar target dynamic analogue echoes method | |
| CN103675769B (en) | Based on the Squint SAR cheating interference method of distributed receiver | |
| JP2020518797A5 (en) | ||
| CN103954964B (en) | The method that multi-angle data of synthetic aperture radar obtains | |
| CN107017931B (en) | A kind of method and device that beam side lobe inhibits | |
| CN107832850B (en) | The matrix games method and device of unmanned plane occupy-place decision under Antagonistic Environment | |
| CN106646395B (en) | A kind of radar return deduction method of airbound target | |
| CN106774901B (en) | Remote PC body-sensing input method based on localization by ultrasonic | |
| CN103675808B (en) | A kind of monopulse radar seeker can not differentiate multi-target detection method | |
| CN112986902A (en) | Method for estimating azimuth of underwater broadband sound source by single detector across ice layer | |
| CN105372637B (en) | The arrowband cheating interference method to radar based on moving vehicle target fine motion characteristic | |
| CN106291450A (en) | The direction-finding method of a kind of single-emission and double-receiving passive radar and device | |
| US7697919B1 (en) | Method and system to mitigate emulator spoofer signals | |
| CN108535704A (en) | A kind of signal Pre-sorting method based on self-adaption two-dimensional cluster | |
| CN105137417B (en) | A kind of multistatic sonar fixation target time domain positioning method | |
| De Kockere et al. | Simulation of radio signals from cosmic-ray cascades in air and ice as observed by in-ice Askaryan radio detectors | |
| Kang et al. | Body gesture recognition based on polarimetric micro-Doppler signature and using deep convolutional neural network | |
| CN106168663B (en) | A kind of ground multistatic sonar fixed ground target localization method and device | |
| CN108303686A (en) | A kind of external illuminators-based radar direction-finding method and system | |
| Miao et al. | Comparison between resolution features of BPA and PFA through wavenumber domain analysis for general spotlight SAR | |
| CN111693958B (en) | Method and system for passive radar three-dimensional space direction finding |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190507 Termination date: 20190811 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |