CN107037411B - Distributed elliptic and hyperbolic joint positioning distance deception jamming resisting suppression method - Google Patents

Distributed elliptic and hyperbolic joint positioning distance deception jamming resisting suppression method Download PDF

Info

Publication number
CN107037411B
CN107037411B CN201710285708.XA CN201710285708A CN107037411B CN 107037411 B CN107037411 B CN 107037411B CN 201710285708 A CN201710285708 A CN 201710285708A CN 107037411 B CN107037411 B CN 107037411B
Authority
CN
China
Prior art keywords
positioning
target
receiving
hyperbolic
station
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.)
Active
Application number
CN201710285708.XA
Other languages
Chinese (zh)
Other versions
CN107037411A (en
Inventor
崔国龙
袁野
黄鑫
黄大通
葛萌萌
孔令讲
易伟
张天贤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Electronic Science and Technology of China
Original Assignee
University of Electronic Science and Technology of China
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by University of Electronic Science and Technology of China filed Critical University of Electronic Science and Technology of China
Priority to CN201710285708.XA priority Critical patent/CN107037411B/en
Publication of CN107037411A publication Critical patent/CN107037411A/en
Application granted granted Critical
Publication of CN107037411B publication Critical patent/CN107037411B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a distributed elliptic and hyperbolic joint positioning anti-range deception jamming restraining method, relates to the technical field of radar multi-station anti-jamming, and particularly relates to an active forwarding deception jamming resisting technology of a multi-station radar. False targets can be effectively inhibited within a certain allowable error range, and real targets are screened out; elliptically located range decoys tend to form on an elliptical curve centered on the radar array, whereas hyperbolically located range decoys are generally in the radial direction of the radar array from the real target, which is still concentrated at the same location. Therefore, the distribution characteristic of the false targets is utilized to carry out the intersection operation on the two positioning planes, so that the real targets can be reserved, and the false targets can be removed. Meanwhile, the method is mainly used for processing on a data level, has low requirement on the premise hypothesis of the echo signal model, meets the application requirement of an actual scene, and can be directly applied to a distributed radar network.

Description

Distributed elliptic and hyperbolic joint positioning distance deception jamming resisting suppression method
Technical Field
The invention relates to the technical field of radar multi-station anti-interference, in particular to an active forwarding type deception jamming resisting technology of a multi-station radar.
Background
With the development and maturity of Digital Radio Frequency Memory (DRFM) technology, modern active forward spoofing interference has become a mainstream spoofing interference mode in the electronic countermeasure field, and radar interference technology enters the coherent interference era. After intercepting the transmitted signal of the radar, the jammer modulates the time delay of the signal and then forwards the modulated jamming signal back to the target radar receiver to form speed deception jamming. The interference can influence the detection of the radar on the distance parameter of the real target, so that the radar generates a plurality of false targets on the distance dimension, and the discovery of the radar on the real target and the normal detection on the distance parameter of the target are interfered. Therefore, in order to ensure that the radar correctly identifies and tracks the target in the presence of the active forwarding interference environment, the method has strong theoretical value and practical significance for improving the distance deception interference resistance of the radar.
The multi-station-based distributed configuration is an effective measure for resisting radar active forwarding type range deception jamming. Zhaoshan proposes an anti-active Deception jamming method Based on cluster Analysis, which utilizes a multi-site and multi-view Radar configuration to design an anti-active forwarding Deception jamming method, see [ ZHao S, Liu N, Zhang L, et. 1-1.]. The method assumes that only the reflection cross-sectional area of the real target fluctuates with the change of the viewing angle, so that only the received energy of the real target fluctuates greatly among stations. The assumption is too idealized, and in a real scene, by using the existing electronic interference technology and due to the energy loss of a physical space, the received energy of the false target also fluctuates among the receiving stations, so that the real target cannot be distinguished by using the fluctuation of the target cross section. From the published literature at present, no research has been made on a technology capable of effectively suppressing the spoofing interference from the decoys in combination with the actual application scenario.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a feasible method which is in line with actual requirements and is suitable for the distributed radar to resist the active forwarding type distance deception jamming.
The invention is based on the configuration of a distributed multi-station radar, and combines a classical positioning method to screen and identify real targets, so the technical scheme adopted by the invention is a distributed elliptic and hyperbolic joint positioning anti-range deception jamming inhibition method, which comprises the following steps:
step 1: the transmitting station transmits a pulse train signal outwards, the receiving stations of the nodes receive target echo signals, the number of the receiving stations is more than or equal to 3, and preliminary matched filtering and target detection processing are carried out on the echo signals; obtaining target distance parameters of a plurality of receiving stations;
step 2: obtaining the coordinate position of a target by utilizing the elliptic positioning and hyperbolic positioning method through cyclic iteration, respectively obtaining an elliptic positioning target plane and a hyperbolic positioning target plane, and if distance deception interference exists, then interfering targets exist in the two planes except the real target;
and step 3: the distance threshold is drawn by utilizing the characteristic that real targets are concentrated in two positioning target planes of an ellipse and a hyperbola and false targets are scattered, and the two positioning planes are subjected to intersection operation to determine the real targets.
Further, the specific method of step 2 is as follows:
step 2-1: selecting 3 receiving stations from the plurality of receiving stations, and calculating target positioning planes of the 3 receiving stations by adopting a hyperbolic curve positioning method according to target distance parameters of the selected 3 receiving stations;
step 2-2: randomly selecting other 3 receiving station combinations from the plurality of receiving stations, and repeating the step 2-1 until all the 3 receiving station combinations are iterated circularly; combining all the calculated target positioning planes to obtain a hyperbolic positioning plane;
step 2-3: selecting 3 receiving stations from the plurality of receiving stations, and calculating target positioning planes of the 3 receiving stations by adopting an elliptical positioning method according to target distance parameters of the selected 3 receiving stations;
step 2-4: randomly selecting other 3 receiving station combinations from the plurality of receiving stations, and repeating the step 2-1 until all the 3 receiving station combinations are iterated circularly; and combining all the calculated target positioning planes to obtain an elliptical positioning plane.
Further, the specific method of step 2 is as follows:
setting the target distance parameters of the plurality of receiving stations obtained in the step 1 as follows:
Figure BDA0001280633160000021
wherein R is a parameter matrix of the target distance of a plurality of receiving stations, R1r2… rNRepresenting the target distance parameter from the 1 st to the Nth receiving station, where rn，mRepresenting the measured radial distance of the mth decoy of the nth receiving station, M representing the total number of targets;
step 2-1: circularly iterating and positioning a hyperbola;
step 2-1-1: selecting 3 receiving stations from the N receiving stations, and defining the 1 st receiving station as a reference receiving station; suppose this time selects 1 st and n1And n2The receiving station performs positioning operation corresponding to the 1 st and n th matrixes R1And n2The line distance parameter is obtained as the following relation
Figure BDA0001280633160000031
Wherein the content of the first and second substances,
Figure BDA0001280633160000039
m in the n-th row of the representation matrix RnColumn, an＝(r1-rn) The longer half axis of the hyperbola with focus at the 1 st and nth receiving stations is represented by/2; the distance r of the target from the transmitting station can be expressed according to the coordinates of the target and the receiving stationTDistance r from the receiving stationn：
Figure BDA0001280633160000032
And
Figure BDA0001280633160000033
wherein (x, y) is the current time of the targetMoment coordinate (x)T，yT) Is the coordinate of the transmitting station, (x)n，yn) Coordinates for the nth receiving station;
step 2-1-2: in order to solve the above equation set, the following expression can be obtained by using the classic Chan algorithm
Figure BDA0001280633160000034
Wherein
Figure BDA0001280633160000035
Coordinate matrix representing the estimated object, bringing it into
Figure BDA0001280633160000036
In (1) obtaining
Figure BDA0001280633160000037
By combining the formula with the formula (1), the results can be obtained
Figure BDA0001280633160000038
The result can be a multiple root, if the result is the multiple root, the result is discarded;
step 2-2: optionally, 2 receiving stations are selected, and the step 2-1 is repeated in combination with the reference receiving station until all station combinations are iterated circularly; combining all the positioning coordinates to obtain a hyperbolic positioning plane;
step 2-3: performing circular iteration elliptic positioning, wherein 3 sites are selected for each time to perform circular iteration, one site is a transmitting site, and the other two sites are receiving sites to perform positioning operation; and defining the transmitting station as a reference receiving station; let n be selected this time'1And n'2The receiving station performs a positioning operation and,
step 2-3-1: similarly, a system of equations for the elliptical positioning can be derived
Figure BDA0001280633160000041
In formula (II), a'n′＝(rT+rn′)/2The major semi-axis of the ellipse, which is focused on the transmitting station and the nth' receiving station,
Figure BDA0001280633160000042
m of the n' th row of the representation matrix Rn′Columns;
step 2-3-2: to n'1And n'2A receiver, can obtain
Figure BDA0001280633160000043
Wherein the content of the first and second substances,
Figure BDA0001280633160000044
similar to hyperbolic positioning, will
Figure BDA0001280633160000045
Is rewritten as
Figure BDA0001280633160000046
Combining the formula and the formula (2) to obtain the final target positioning coordinate
Figure BDA0001280633160000047
Step 2-4: optionally selecting 2 receiving stations, combining the transmitting stations, and repeating the step 2-3 until all station combinations are iterated circularly; and combining all the positioning coordinates to obtain an elliptical positioning plane.
Further, the specific method of step 3 is as follows:
step 3-1: the hyperbolic and elliptic positioning coordinate matrixes are used for numbering the points of two positioning planes according to a circular iteration hyperbolic and elliptic positioning method, and the coordinate matrixes are respectively expressed as
Figure BDA0001280633160000048
And
Figure BDA0001280633160000049
wherein the content of the first and second substances,
Figure BDA00012806331600000410
and
Figure BDA00012806331600000411
for two row vectors, respectively representing x and n1And n2The abscissa and ordinate of the positioning result of the three stations can be expressed as:
Figure BDA00012806331600000412
Figure BDA00012806331600000413
denotes the 1 st receiving or transmitting station;
step 3-2: the positioning coordinate matrix is reconstructed, and the vector is easy to find
Figure BDA0001280633160000051
And
Figure BDA0001280633160000052
the elements in the method are not necessarily all real numbers, and the complex roots are discarded, so that the coordinate matrix with the discarded complex roots is renumbered to obtain a corresponding coordinate matrix which is as follows:
Figure BDA0001280633160000053
and
Figure BDA0001280633160000054
respectively drawing a hyperbolic positioning plane and an elliptical positioning plane according to the two matrixes, wherein the hyperbolic positioning plane has K points, and the elliptical positioning plane has L points;
step 3-3: taking the intersection operation, and combining XEAs a reference matrix, XHAs a correction matrix; the real targets can be found to be at the same position or close to each other in two positioning planes, while the false targets are scattered; by using this property, it is trueThe target is XEAnd XHTwo points closest to each other in the two planes; the specific steps for distinguishing the real target are as follows:
step 3-3-1: for XEThe first target [ x ] in (1)E，l，yE，l]TTaking the coordinate system as a circle center in a Cartesian coordinate system to obtain an expression (x-x)E，l)2+(y-yE，l)2Gate, where Gate represents the threshold for intersection operations;
step 3-3-2: if X isHIn which at least one target [ x ]H，k，yH，k]TIn the above circle, i.e. the target [ x ]H，k，yH，k]TSatisfies the inequality (x-x)H，k)2+(y-yH，k)2Not more than Gate; then XETarget of [ x ]E，l，yE，l]TWill be retained if XHNo object is in the circle, the object x isE，l，yE，l]TFrom XERemoving;
step 3-3-3: mixing XEAll targets in (1) are repeatedly subjected to the operations of steps 3-3-1 and 3-3-2, if XEIf the number of the medium targets is 1, stopping; if the threshold value is larger than 1, reducing the threshold value Gate, wherein the Gate is equal to Gate-and represents the step length of threshold reduction; repeating the above steps using the reduced threshold until XEThe number of the medium targets is 1, namely the real targets.
Further, the method for selecting the threshold and the step length in the step 3-3-3 comprises the following steps:
step 3-3-1: defining an estimated target location
Figure BDA00012806331600000510
And true position (x, y) with a range error of
Figure BDA0001280633160000055
When no distance deception interference exists, the estimated values of the target position are respectively found by using a hyperbolic curve positioning method and an elliptic positioning method and are respectively marked as (x)H，yH) And (x)E，yE) Thus, an estimated value of the target position of the interference-free plane is obtained
Figure BDA0001280633160000056
The positioning error of the target in (x, y) is obtained
Figure BDA0001280633160000057
Step 3-3-2: the Monte Carlo simulation is carried out for 100 times in the step 3-4-1, and the maximum value of the error is taken as an initial threshold, namely
Figure BDA0001280633160000058
Wherein
Figure BDA0001280633160000059
Representing an error value obtained by the tth Monte Carlo simulation calculation;
step 3-3-3: the step size of the target at (x, y) is obtained as:
Figure BDA0001280633160000061
the innovation points of the invention are as follows: the improved target positioning method is applied to the field of interference suppression for the first time, and a method for performing interference suppression on a data set is provided, so that the method meets the application requirements of an actual scene.
The invention provides a distance deception jamming suppression algorithm suitable for a distributed radar network. False targets can be effectively inhibited within a certain allowable error range, and real targets are screened out; elliptically located range decoys tend to form on an elliptical curve centered on the radar array, whereas hyperbolically located range decoys are generally in the radial direction of the radar array from the real target, which is still concentrated at the same location. Therefore, the distribution characteristic of the false targets is utilized to carry out the intersection operation on the two positioning planes, so that the real targets can be reserved, and the false targets can be removed. Meanwhile, the method is mainly used for processing on a data level, has low requirement on the premise hypothesis of the echo signal model, meets the application requirement of an actual scene, and can be directly applied to a distributed radar network.
Drawings
FIG. 1 is a flowchart of the processing of the present embodiment;
FIG. 2 is a schematic diagram of a radar node of an experimental scenario;
FIG. 3 is a view of a target plane obtained by hyperbolic positioning and elliptical positioning;
FIG. 4 is an estimated target position and a true target position obtained after intersection operations;
fig. 5 is a position error plane.
Detailed Description
Step 1: signal pre-processing
Step 1-1: a real target signal model, as shown in FIG. 2, a distributed radar array is composed of 1 transmitting station and N receivers, and the coordinates are respectively expressed as (x)T，yT) And { (x)i，yi) I ═ 1, 2, …, N }; the current time coordinate of the target is (x, y), and the real target echo signal of the nth receiver is xT，n(t)＝αns(t-τn) Where s (t) is the emission signal, τnTime delay of nth receiver αnThe scattering coefficient of the corresponding target;
step 1-2: interference signal model, assuming that the jammer modulates M range decoys, so the interference echo signal of the nth receiver can be expressed as
Figure BDA0001280633160000062
Wherein tau isj，mTime delay representing the mth interference target of the modulation, βn，mIs its corresponding scattering coefficient;
step 1-3: the echo model, combined with steps 1-1 and 1-2, yields the echo for the nth receiver, which can be expressed as yn(t)＝xT，n(t)+xJ，n(t) + v (t), where v (t) represents zero-mean additive white gaussian noise;
step 1-4: matched filtering and threshold detection, namely, performing matched filtering and threshold detection on the echo signal, judging the obtained distance center exceeding the threshold as a target, and further measuring the radial distance of the target; will n beThe distance of the target measured by the receiver is represented as a vector rn＝[rn，0rn，1… rn，M]Wherein r isn，mIndicating the measured radial distance of the mth decoy, in particular, rn，0Representing the measured radial distance of the real target; as shown in FIG. 2, the distance from the transmitting station to the target is set as rTLet the distance of the target to the nth receiver be rnThus, the relation r can be obtainedT+rn＝cτnWhere c represents the speed of light; therefore, the nth receiver measures the distance information of the mth target as
Figure BDA0001280633160000071
Wherein
Figure BDA0001280633160000072
Indicating the distance of the interfering target modulation, dnIndicating the measurement error of the nth receiver; finally, the distance vectors measured by all receivers are written as a distance matrix
Figure BDA0001280633160000073
Step 2: finding hyperbolic-elliptic positioning plane
It can be known from the characteristics of echo signal matched filtering and threshold detection that which components in the distance matrix R represent the distance of the real target cannot be distinguished, and therefore, a cyclic iteration method needs to be used to perform elliptic and hyperbolic positioning operations on the target, so as to obtain an elliptic positioning plane and a hyperbolic positioning plane;
step 2-1: circularly iterating and positioning a hyperbola;
step 2-1-1: selecting 3 receiving stations from the N receiving stations, and defining the 1 st receiving station as a reference receiving station; that is, besides the fixed selection of the first receiving station, at least two receiving stations are also required to be selected for positioning operation; suppose that the 1 st and n th are selected this time1And n2The receiving station performs positioning operation corresponding to the 1 st and n th matrixes R1And n2The line distance parameter is a function of the distance between the lines,obtaining the following relation
Figure BDA0001280633160000074
Wherein the content of the first and second substances,
Figure BDA0001280633160000075
m in the n-th row of the representation matrix RnColumn, an＝(r1-rn) The longer half axis of the hyperbola with focus at the 1 st and nth receiving stations is represented by/2;
from the coordinates of the target and the receiving station, it is possible to obtain
Figure BDA0001280633160000081
And
Figure BDA0001280633160000082
step 2-1-2: in order to solve the above equation set, the following expression can be obtained by using the classic Chan algorithm
Figure BDA0001280633160000083
Wherein
Figure BDA0001280633160000084
Coordinate matrix representing the estimated object, bringing it into
Figure BDA0001280633160000085
In (1) obtaining
Figure BDA0001280633160000086
By combining the formula with the formula (1), the results can be obtained
Figure BDA0001280633160000087
The result may be a multiple root, which is discarded.
Step 2-2: any alternative 2 receiving stations, combining with a reference receiving station (the 1 st receiving station), repeating the step 2-1 until all station combinations are iterated circularly; combining all the positioning coordinates to obtain a hyperbolic positioning plane;
step 2-3: and (3) performing circular iteration elliptical positioning, similar to hyperbolic positioning, and performing circular iteration by selecting 3 stations each time to perform positioning operation. However, the method selects the transmitting station as the reference station, and the remaining 2 stations are the receiving stations.
Step 2-3-1: similarly, a system of equations for the elliptical positioning can be derived
Figure BDA0001280633160000088
In formula (II), a'n＝(rT+rn) And/2, the semi-major axis of the ellipse with the transmitting station and the nth receiving station as the focal points.
Step 2-3-2: to n'1And n'2A receiver, can obtain
Figure BDA0001280633160000089
Wherein the content of the first and second substances,
Figure BDA0001280633160000091
similar to hyperbolic positioning, will
Figure BDA0001280633160000092
Is rewritten as
Figure BDA0001280633160000093
Combining the formula and the formula (2) to obtain the final positioning coordinate
Figure BDA0001280633160000094
Step 2-4: any alternative 2 receiving stations, in conjunction with the reference station (transmitting station), repeat steps 2-3 until the loop iterates through all station combinations. And combining all the positioning coordinates to obtain an elliptical positioning plane.
And step 3: joint interference suppression
Step 3-1: double isThe curve and ellipse positioning coordinate matrixes are used for numbering the points of the two positioning planes according to a hyperbolic curve and ellipse positioning method of cyclic iteration, and the coordinate matrixes are respectively expressed as
Figure BDA0001280633160000095
And
Figure BDA0001280633160000096
wherein the content of the first and second substances,
Figure BDA0001280633160000097
and
Figure BDA0001280633160000098
for two row vectors, respectively representing x and n1And n2The horizontal and vertical coordinates of the positioning result of the three stations can be expressed as
Figure BDA0001280633160000099
Figure BDA00012806331600000910
Denotes the 1 st receiving or transmitting station;
step 3-2: the positioning coordinate matrix is reconstructed, and the vector is easy to find
Figure BDA00012806331600000911
And
Figure BDA00012806331600000912
the elements in the complex root are not always real numbers, and the complex root is abandoned, so that the coordinate matrix with the abandoned complex root is renumbered to obtain a matrix
Figure BDA00012806331600000913
And
Figure BDA00012806331600000914
from which two respective hyperbolas can be drawnThe positioning device comprises a positioning plane and an elliptical positioning plane, wherein the hyperbolic positioning plane has K points, and the elliptical positioning plane has L points. The specific values of K and L cannot be known, but the value ranges of K and L can be obtained
Figure BDA00012806331600000915
Step 3-3: taking the intersection operation, and combining XEAs a reference matrix, XHAs a correction matrix. It can be found that real objects are in the same position (or close to each other) in both localization planes, while false objects are scattered. By using this property, the real target is XEAnd XHTwo points in the two planes that are closest together. Next, the specific steps of how to distinguish the real target are as follows
Step 3-3-1: for XEThe first point [ x ] inE，l，yE，l]TTaking the coordinate system as a circle center in a Cartesian coordinate system to obtain an expression (x-x)E，l)2+(y-yE，l)2Gate, where Gate represents the threshold for intersection operations;
step 3-3-2: if X isHAt least one point [ x ] in theH，k，yH，k]TIn the above circle, i.e. point [ x ]H，k，yH，k]TSatisfies the inequality (x-x)H，k)2+(y-yH，k)2Not more than Gate. Then XEPoint [ x ] ofE，l，yE，l]TWill be retained if XHNo point in the circle, then point xE，l，yE，l]TFrom XERemoving;
step 3-3-3: mixing XEAt all points in the process, the operations of steps 3-3-1 and 3-3-2 are repeated, if X isEIf the number of the middle points is 1, stopping; if the threshold value is larger than 1, reducing the threshold value Gate, wherein the Gate is equal to Gate-and represents the step length of threshold reduction; repeating the above steps using the reduced threshold;
step 3-4: the suggested threshold and step length are selected, and the selection of the threshold Gate and the step length can be carried out according to the actual requirement; if the arithmetic efficiency of the algorithm is required to be high, a small threshold Gate can be used, and the step length is increased; if high accuracy is required, a small step size is required. Providing a suggested threshold and step selection mode;
step 3-4-1: defining an estimated target location
Figure BDA0001280633160000107
And true position (x, y) with a range error of
Figure BDA0001280633160000101
When no distance deception interference exists, the estimated values of the target position are respectively found by using a hyperbolic curve positioning method and an elliptic positioning method and are respectively marked as (x)H，yH) And (x)E，yE) Thus, an estimated value of the target position of the interference-free plane is obtained
Figure BDA0001280633160000102
The positioning error of the target in (x, y) can be obtained
Figure BDA0001280633160000103
Step 3-4-2: the Monte Carlo simulation is carried out for 100 times in the step 3-4-1, and the maximum value of the error is taken as an initial threshold, namely
Figure BDA0001280633160000104
Wherein
Figure BDA0001280633160000105
Representing an error value obtained by the tth Monte Carlo simulation calculation;
step 3-4-3: obtaining a step size of the target at (x, y)
Figure BDA0001280633160000106
The effect of the invention is further illustrated by the following simulation comparative tests:
simulation scene: suppose there are 1 transmitting station and 3 receiversStations with coordinates of (0, 0) km, (0.9999, 0.0001) km, (2.0001, 0.0002) km, and (0.0003, 1.5001) km, respectively, and the current position of the target is (100, 90) km. Suppose that the jammer modulates M-2 jammers, and their dragging distances are respectively
Figure BDA0001280633160000111
And
Figure BDA0001280633160000112
let the ranging error of the receiving station be 50 m. The joint plane of hyperbolic and elliptical positioning is shown in fig. 3. The final target position estimate obtained after the intersection element operation is taken is shown in fig. 4.
With 10km as a step length, the target is placed in a region with {0km < x > 100km, and 0km < y > 100km } to solve the algorithm, the positioning error of the target is calculated, 100 Monte Carlo simulations are carried out to obtain the average value of the positioning error, and finally the positioning error plane { rho [ (+) is obtained0(x, y) |0km < x ≦ 100km, 0km < y ≦ 100km } is shown in FIG. 5.
Through the specific implementation of the method, the influence of deception jamming from a false target can be effectively inhibited through the interference inhibition method provided by the invention within a certain distance range, and meanwhile, the accuracy of target positioning is ensured.

Claims (4)

1. A distributed elliptic and hyperbolic joint positioning distance deception jamming resisting method comprises the following steps:
step 1: the transmitting station transmits a pulse train signal outwards, the receiving stations of the nodes receive target echo signals, the number of the receiving stations is more than or equal to 3, and preliminary matched filtering and target detection processing are carried out on the echo signals; obtaining target distance parameters of a plurality of receiving stations;
step 2: obtaining the coordinate position of a target by utilizing the elliptic positioning and hyperbolic positioning method through cyclic iteration, respectively obtaining an elliptic positioning target plane and a hyperbolic positioning target plane, and if distance deception interference exists, then interfering targets exist in the two planes except the real target;
and step 3: the characteristic that real targets are concentrated in two positioning target planes of an ellipse and a hyperbola and false targets are scattered is utilized to mark a distance threshold, and the two positioning target planes are subjected to intersection operation to determine the real targets;
step 3-1: the hyperbolic curve and ellipse positioning coordinate matrix numbers the points of the two positioning target planes according to the circular iteration hyperbolic curve and ellipse positioning method,
the coordinate matrixes of which are respectively expressed as
Figure FDA0002376024480000011
And
Figure FDA0002376024480000012
wherein the content of the first and second substances,
Figure FDA0002376024480000013
and
Figure FDA0002376024480000014
for two row vectors, respectively representing x and n1And n2The abscissa and ordinate of the positioning result of the three stations can be expressed as:
Figure FDA0002376024480000015
Figure FDA0002376024480000016
denotes the 1 st receiving or transmitting station;
step 3-2: the positioning coordinate matrix is reconstructed, and the vector is easy to find
Figure FDA0002376024480000017
And
Figure FDA0002376024480000018
the elements in (1) are not necessarily all real numbers, and for a complex root, the process is carried outAbandoning, so renumbering the coordinate matrix after abandoning the multiple root and obtaining the corresponding coordinate matrix as:
Figure FDA0002376024480000019
and
Figure FDA00023760244800000110
respectively drawing a hyperbolic positioning target plane and an elliptical positioning target plane according to the two matrixes, wherein the hyperbolic positioning target plane has K points, and the elliptical positioning target plane has L points;
step 3-3: taking the intersection operation, and combining XEAs a reference matrix, XHAs a correction matrix; the real target can be found to be at the same position or close to each other in two positioning target planes, while the false target is scattered; by using this property, the real target is XEAnd XHTwo points closest to each other in the two planes; the specific steps for distinguishing the real target are as follows:
step 3-3-1: for XEThe first target [ x ] in (1)E,l,yE,l]TTaking the coordinate system as a circle center in a Cartesian coordinate system to obtain an expression (x-x)E,l)2+(y-yE,l)2Gate, where Gate represents the threshold for intersection operations;
step 3-3-2: if X isHIn which at least one target [ x ]H,k,yH,k]TIn the above circle, i.e. the target [ x ]H,k,yH,k]TSatisfy inequality (x)H,k-xE,l)2+(yH,k-yE,l)2Not more than Gate; then XETarget of [ x ]E,l,yE,l]TWill be retained if XHNo object is in the circle, the object x isE,l,yE,l]TFrom XERemoving;
step 3-3-3: mixing XEAll targets in (1) are repeatedly subjected to the operations of steps 3-3-1 and 3-3-2, if XEIf the number of the medium targets is 1, stopping; if the threshold is larger than 1, the threshold is setGate decrease, where represents the step size of the threshold decrease; repeating the above steps using the reduced threshold until XEThe number of the medium targets is 1, namely the real targets.
2. The distributed elliptic and hyperbolic joint positioning distance deception jamming resisting method of claim 1 is characterized in that the specific method of the step 2 is as follows:
step 2-1: selecting 3 receiving stations from the plurality of receiving stations, and calculating positioning target planes of the 3 receiving stations by adopting a hyperbolic curve positioning method according to target distance parameters of the selected 3 receiving stations;
step 2-2: randomly selecting other 3 receiving station combinations from the plurality of receiving stations, and repeating the step 2-1 until all the 3 receiving station combinations are iterated circularly; combining all the calculated positioning target planes to obtain a hyperbolic positioning target plane;
step 2-3: selecting 3 receiving stations from the plurality of receiving stations, and calculating positioning target planes of the 3 receiving stations by adopting an elliptical positioning method according to target distance parameters of the selected 3 receiving stations;
step 2-4: randomly selecting another 3 receiving station combinations from the plurality of receiving stations, and repeating the steps 2-3 until all the 3 receiving station combinations are iterated circularly; and combining all the calculated positioning target planes to obtain an elliptical positioning target plane.
3. The distributed elliptic and hyperbolic curve joint positioning distance deception jamming resisting method as claimed in claim 1 or 2, wherein the specific method of the step 2 is as follows:
setting the target distance parameters of the plurality of receiving stations obtained in the step 1 as follows:
Figure FDA0002376024480000021
wherein R represents a target distance parameter matrix of a plurality of receiving stations, R1r2… rNRepresenting 1 st to Nth receiving stationsA target distance parameter, wherein rn,mRepresents the measured radial distance of the mth target of the nth receiving station, and M represents the total number of targets;
step 2-1: circularly iterating and positioning a hyperbola;
step 2-1-1: selecting 3 receiving stations from the N receiving stations, and defining the 1 st receiving station as a reference receiving station; suppose this time selects 1 st and n1And n2The receiving station performs positioning operation corresponding to the 1 st and n th matrixes R1And n2The line distance parameter is obtained as the following relation
Figure FDA0002376024480000031
Wherein the content of the first and second substances,
Figure FDA0002376024480000032
m in the n-th row of the representation matrix RnColumn, an＝(r1-rn) The longer half axis of the hyperbola with focus at the 1 st and nth receiving stations is represented by/2; the distance r of the target from the transmitting station can be expressed according to the coordinates of the target and the receiving stationTDistance r from the receiving stationn：
Figure FDA0002376024480000033
And
Figure FDA0002376024480000034
wherein (x, y) is the current time coordinate of the target, (x)T,yT) Is the coordinate of the transmitting station, (x)n,yn) Coordinates for the nth receiving station;
step 2-1-2: in order to solve the above equation set, the following expression can be obtained by using the classic Chan algorithm
Figure FDA0002376024480000035
Wherein
Figure FDA0002376024480000036
Figure FDA0002376024480000037
Coordinate matrix representing the estimated object, bringing it into
Figure FDA0002376024480000038
In (1) obtaining
Figure FDA0002376024480000039
By combining the formula with the formula (1), the results can be obtained
Figure FDA00023760244800000310
The result can be a multiple root, if the result is the multiple root, the result is discarded;
step 2-2: optionally, 2 receiving stations are selected, and the step 2-1 is repeated in combination with the reference receiving station until all station combinations are iterated circularly; combining all the positioning coordinates to obtain a hyperbolic positioning target plane;
step 2-3: performing circular iteration elliptic positioning, wherein 3 sites are selected for each time to perform circular iteration, one site is a transmitting site, and the other two sites are receiving sites to perform positioning operation; and defining the transmitting station as a reference receiving station; let n be selected this time'1And n'2The receiving station performs a positioning operation and,
step 2-3-1: similarly, a system of equations for the elliptical positioning can be derived
Figure FDA0002376024480000041
In formula (II), a'n′＝(rT+rn′) A/2, the major half axis of the ellipse, with the transmit station and the nth' receive station as the focal points,
Figure FDA0002376024480000042
m of the n' th row of the representation matrix Rn′Columns;
step 2-3-2: to n'1And n'2A receivingMachine to obtain
Figure FDA0002376024480000043
Wherein the content of the first and second substances,
Figure FDA0002376024480000044
similar to hyperbolic positioning, will
Figure FDA0002376024480000045
Is rewritten as
Figure FDA0002376024480000046
Combining the formula and the formula (2) to obtain the final positioning target coordinate
Figure FDA0002376024480000047
Step 2-4: optionally selecting 2 receiving stations, combining the transmitting stations, and repeating the step 2-3 until all station combinations are iterated circularly; and combining all the positioning coordinates to obtain an elliptical positioning target plane.
4. The distributed elliptic and hyperbolic joint positioning distance deception jamming resisting method of claim 1, wherein the threshold and step selection method in the step 3-3-3 is as follows:
step 3-3-3-1: defining an estimated target location
Figure FDA0002376024480000048
And true position (x, y) with a range error of
Figure FDA0002376024480000049
When no distance deception interference exists, the estimated values of the target position are respectively found by using a hyperbolic curve positioning method and an elliptic positioning method and are respectively marked as (x)H,yH) And (x)E,yE) Thus, obtaining noTarget position estimate for interference plane
Figure FDA00023760244800000410
The positioning error of the target in (x, y) is obtained
Figure FDA00023760244800000411
Step 3-3-3-2: the Monte Carlo simulation is carried out for 100 times in the step 3-3-3-1, and the maximum value of the error is taken as an initial threshold, namely
Figure FDA0002376024480000051
Wherein
Figure FDA0002376024480000052
Representing an error value obtained by the tth Monte Carlo simulation calculation;
step 3-3-3-3: the step size of the target at (x, y) is obtained as:
Figure FDA0002376024480000053
CN201710285708.XA 2017-04-27 2017-04-27 Distributed elliptic and hyperbolic joint positioning distance deception jamming resisting suppression method Active CN107037411B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710285708.XA CN107037411B (en) 2017-04-27 2017-04-27 Distributed elliptic and hyperbolic joint positioning distance deception jamming resisting suppression method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710285708.XA CN107037411B (en) 2017-04-27 2017-04-27 Distributed elliptic and hyperbolic joint positioning distance deception jamming resisting suppression method

Publications (2)

Publication Number Publication Date
CN107037411A CN107037411A (en) 2017-08-11
CN107037411B true CN107037411B (en) 2020-08-11

Family

ID=59536086

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710285708.XA Active CN107037411B (en) 2017-04-27 2017-04-27 Distributed elliptic and hyperbolic joint positioning distance deception jamming resisting suppression method

Country Status (1)

Country Link
CN (1) CN107037411B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117289252B (en) * 2023-09-12 2024-04-09 中国科学院声学研究所 Direct wave interference elimination method based on elliptical segmentation in active detection of underwater sound target

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1969197A (en) * 2004-02-17 2007-05-23 加迪公司 Ultra wide band navigation system with mobile base stations

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1969197A (en) * 2004-02-17 2007-05-23 加迪公司 Ultra wide band navigation system with mobile base stations

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
Capabilities of a Bistatic Receivers’ Network Using Hyperbolic Positioning Method;Mateusz Mazur 等;《MIKON 2012, 19th International Conference on Microwaves, Radar and Wireless Communications》;20120523;357-360 *
Elliptic localization: Performance Study and Optimum Receiver Placement;Liyang Rui 等;《IEEE TRANSACTIONS ON SIGNAL PROCESSING》;20140915;第62卷(第18期);4673-4686 *
Range-Velocity Jamming Suppression Algorithm Based on Adaptive Iterative Filtering;Shuai Zhang 等;《2016 IEEE Radar Conference》;20161231;1-6 *
基于TDOA/TSOA的ADS-B虚假信号检测技术研究;刘逸 等;《现代导航》;20150430(第2期);95-101 *

Also Published As

Publication number Publication date
CN107037411A (en) 2017-08-11

Similar Documents

Publication Publication Date Title
US10209349B2 (en) Method and system for ladar pulse deconfliction to detect and track other ladar systems
CN108089167B (en) Synthetic aperture radar cross-pulse interference signal detection method
CN104142496B (en) Based on the statistics MIMO radar multi-target orientation method that connected domain divides
DE102008005212A1 (en) Radio network system and method for determining an unknown position of a transceiver unit of a radio network
CN105891799A (en) Active jamming reconnaissance method suitable for mechanical scanning radars
CN109490845B (en) Method for suppressing main lobe suppressing interference by multi-station radar
CN107037411B (en) Distributed elliptic and hyperbolic joint positioning distance deception jamming resisting suppression method
CN113484838B (en) Multi-base radar active false target identification method and system
CN111624557A (en) Method and system for distributed networking interference
Shen et al. Indirect path detection based on wireless propagation measurements
JP2009513082A (en) Pulse train analysis
CN110596668B (en) Target external radiation source passive positioning method based on reciprocal deep neural network
CN111770528A (en) Sight distance and non-sight distance identification method and device based on channel parameter extraction method
Zhao et al. Calibrating the transmitter and receiver location errors for moving target localization in multistatic passive radar
CN106093891A (en) Radar fence anti-crowding measure false target jamming profile method based on doppler velocity inspection
CN110333492B (en) Area ratio-based non-cooperative deception jamming resisting method
CN113203991B (en) Anti-deception jamming method of multi-base SAR (synthetic aperture radar) in multi-jammer environment
CN111077515B (en) Target detection method based on analog television external radiation source radar
De Groot et al. Remote transmitter tracking with raytraced fingerprint database
Yan et al. Robust Target Localization for Multistatic Passive Radar Networks
CN103941248A (en) Frequency-polarization configuration method suitable for collaborative detection network
Lei et al. Multistatic radar analysis based on ambiguity function and Cramér-Rao lower bounds
He et al. Neural network based C/N0 abnormity detection method for GPS anti-spoofing
Wang et al. Convex hull based node selection NLoS mitigation for indoor localization
RU2815879C1 (en) Method of protecting radar station with monopulse direction-finding from multiple return-pulse interference

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant