CN107678022B - The radar Direct Three-dimensional space target positioning method utilized based on multipath - Google Patents
The radar Direct Three-dimensional space target positioning method utilized based on multipath Download PDFInfo
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- CN107678022B CN107678022B CN201710983238.4A CN201710983238A CN107678022B CN 107678022 B CN107678022 B CN 107678022B CN 201710983238 A CN201710983238 A CN 201710983238A CN 107678022 B CN107678022 B CN 107678022B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
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Abstract
The invention discloses a kind of radar Direct Three-dimensional space target positioning methods utilized based on multipath, mainly solve the problems, such as the prior art in a multi-path environment to radar point target position inaccurate.Implementation step is: 1., which generate transmitting signal, obtains echo data；2. the wave that pair echo data handles to obtain different paths reaches the time；3. establishing radar target geometry location model；4. obtained different path waves were brought into the geometry location model of foundation up to the time, the flat circle that simultaneous will be intersected, 5. obtaining the ∠ AQP being made of the position P of radar site Q, point target position A and virtual radar according to the multipath signal angle of arrival of point target；6. the angle in the plane equation of the circle of basis and step 5, obtains target position.The present invention can efficiently use multi-path information, and the geometry location model established is simple, at low cost, improve positioning accuracy, can be used for the positioning to low latitude point target.
Description
Technical field
The invention belongs to Radar Technology field, in particular to a kind of object localization method can be used for existing to radar point target
Three-dimensional space is directly positioned.
Background technique
In a multi-path environment, when being positioned using radar to point target, since ground sea and ambient enviroment are to electromagnetic wave
Reflection, from target return echo-signal by different paths reach radar antenna, generate multipath effect.Multipath effect is deposited
So that radar reduces the precision that target positions, or even generating false target.Typically, for compared with big-elevation
Point target, multi-path component enter from radar antenna minor lobe, and monopulse radar can be with high accuracy positioning at this time.But it is faced upward for low
Angle point target biggish position error will occur, and result even in positioning and lose since multi-path signal enters and poor main beam
It loses.If being positioned at this time using traditional matched filtering method, due to the interference by multipath signal, radar will accidentally be measured multiple
Decoy, so that the actual position of target can not be measured accurately.
Influence for multipath, traditional method are mainly the actual position information for inhibiting multipath signal to obtain target.
Such as: by changing antenna Placement Strategy, makes direct-path signal and multipath signal almost while reaching antenna, or design ground level
Antenna blocks the multipath signal below antenna.But the use scope of these methods has certain limitations, to different paths
Wave has strict requirements up to time precision, is suitable only for postponing shorter multi-path environment.Meanwhile receiving antenna is by multipath signal
It influences, radar can accidentally measure multiple decoys, and there is a problem that higher cost, processing is complicated, the scope of application is small.
Summary of the invention
It is an object of the invention to be directed to the deficiency of above-mentioned existing method, propose that a kind of radar utilized based on multipath is direct
Three dimensional Targets localization method improves the detection accuracy of target actual position, reduces simultaneously to avoid the appearance of decoy
Cost and processing complexity, expand its scope of application.
To achieve the above object, technical solution of the present invention includes the following:
(1) radar emission signal s is obtainedt(t) echo data sr(t), the wave for obtaining different paths reaches time τA、τB、
τAB, wherein τATime, τ are reached for the wave of direct waveBTime, τ are reached for the wave of second order multipathABThe wave of single order multipath reaches the time:
(2) radar target geometry location model is established:
Coordinate system 2a) is established, defines a monostatic radar position Q and point target position A in a coordinate system:
Q=[Rx,Ry,Rz], A=[Ax,Ay,Az]；
Symmetrical position 2b) in a coordinate system to point target reflecting surface information initializing, according to radar site about reflecting surface
It sets, obtains the location point P of virtual radar:
P=[Dx,Dy,Dz]；
2c) according to monostatic radar position Q, point target position A, the position P of virtual radar and point target reflecting surface information,
Founding mathematical models expression formula:
Wherein, first expression formula is with Q=[Rx,Ry,Rz] point be the centre of sphere ball, be the geometrical model of direct-path signal；
Second expression formula is with Q=[Rx,Ry,Rz], P=[Dx,Dy,Dz] point be focus rotational ellipsoid, be single order
The geometrical model of multipath signal, this geometrical model are established by rotary shaft of y-axis；
Third expression formula is with P=[Dx,Dy,Dz] be the centre of sphere ball, be the geometrical model of second order multipath；
C is the spread speed of electromagnetic wave in space, [Tx,Ty,Tz] it is the target position to be measured；
(3) difference path wave obtained in step (1) is reached into time τA、τB、τABBring the mathematical modulo established in step (2) into
In type, simultaneous will be obtained by the geometrical model sphere of direct-path signal, the geometrical model rotational ellipsoid of single order multipath and second order
The flat circle of multipath geometrical model sphere three intersection；
(4) it according to the multipath signal angle of arrival of point target, obtains by radar site Q, point target position A and virtual radar
Position P composition ∠ AQP；
(5) according to the size of disk equation and angle ∠ AQP in step (4) in step (3), target position is obtained.
Compared with prior art, the present invention having the advantage that
1, detection position accuracy is high.
In a multi-path environment, traditional matched filtering method is by the interference by multipath signal, and when reaching to each path wave
Between accuracy requirement it is higher, can not accurately measure the position of target.The present invention is when reaching to each path wave due to model built
Between and multipath angle information comprehensive descision, therefore, to the wave of each path echo-signal up to time accuracy insensitive, Ke Yizhun
Really measure target position information.
2, model is simple, at low cost.
To weaken the influence that multipath effect positions target, conventional method is to take the method for inhibiting multipath effect, is needed
Multiple receiving antennas receive signal, and dock that receive signal processing algorithm complicated.The present invention is to establish thunder using multi-path information
Up to target geometry location model, mathematical model is obtained with geometry location model up to the time according to the wave in each path, by mathematical model
The actual position of target is obtained, model is simple, and cost is relatively low.
3, the present invention is using point target multi-path information to point target Direct Three-dimensional space orientation.
Detailed description of the invention
Fig. 1 is implementation flow chart of the invention；
Fig. 2 is radar target geometry location schematic diagram under multi-path environment；
Fig. 3 is under the target and environmental parameter of setting, and obtaining reflecting surface with the present invention is the positioning knot under horizontality
Fruit figure；
Fig. 4 is under the target and environmental parameter of setting, and obtaining reflecting surface with the present invention is the positioning knot under heeling condition
Fruit figure.
Specific embodiment
Referring to Fig.1, steps are as follows for realization of the invention:
Step 1: obtaining radar return data.
According to radar emission signal st(t), obtaining echo data is sr(t):
WhereinFor convolution symbol, hkIt (t) is direct wave transmission receptance function, hk' (t) rings for multi-path channel transmission
Function is answered, n (t) is receiver noise signal, can regard white Gaussian noise signal as.
Step 2: the time is reached according to the wave that echo data obtains different paths.
To the echo data s receivedr(t) matched filtering is carried out, the wave for obtaining different paths reaches time τA、τB、τAB,
In, τATime, τ are reached for the wave of direct waveBTime, τ are reached for the wave of second order multipathABThe wave of single order multipath reaches the time.
Step 3: establishing radar target geometry location model.
Referring to Fig. 2, a monostatic radar and point target are defined respectively at Q point and A point, the reflecting surface of initialized target
Information, it is assumed that the reflecting surface of target is mirror-reflection, obtains radar about the symmetrical virtual thunder of reflecting surface according to reflecting surface information
The position P reached reaches time τ according to the wave of radar site Q, the position P of virtual radar and different pathsA、τB、τAB, establish radar
Target geometry location model, steps are as follows:
3a) establish coordinate system；
A monostatic radar position Q and point target position A 3b) is defined in a coordinate system:
Q=[Rx,Ry,Rz], A=[Ax,Ay,Az]；
Target reflecting surface pitch angle and azimuth 3c) are arranged to target reflecting surface information initializing in a coordinate system, according to
Symmetric position of the radar site about target reflecting surface obtains the location point P of virtual radar:
P=[Dx,Dy,Dz]；
3d) referring to Fig. 2, reflected according to monostatic radar position Q, point target position A, the position P of virtual radar and target
Relationship between face is available:
For direct wave delay, τA, geometric graph is using Q point as the centre of sphere, using QA length as the solid line ball of radius；
For single order multidiameter delay τAB, since QA+AB+BQ=QA+AB+BP=QA+AP, i.e. QA+AP can regard biradical as
Ground radar, i.e. signal are issued to target from true radar Q, then are received by virtual radar P, and geometric graph is ellipse by focus of Q, P
The rotational ellipsoid that circle is rotated around y-axis；
For second order multidiameter delay τB, geometric graph is using P point as the centre of sphere, using AP length as the solid line ball of radius；
By τ aboveA、τAB、τBThe geometric graph of composition, founding mathematical models expression formula:
Wherein, first expression formula is with Q=[Rx,Ry,Rz] point be the centre of sphere ball, be the geometrical model of direct-path signal；
Second expression formula is with Q=[Rx,Ry,Rz], P=[Dx,Dy,Dz] ellipse for focus is put around y-axis rotation ellipsoid
Body, is the geometrical model of single order multipath signal, this geometrical model is established by rotary shaft of y-axis；
Third expression formula is with P=[Dx,Dy,Dz] be the centre of sphere ball, be the geometrical model of second order multipath；
C is the spread speed of electromagnetic wave in space, [Tx,Ty,Tz] it is the target position to be measured.
Step 4: building flat circle.
Difference path wave obtained in step (2) is reached into time τA、τB、τABBring the mathematical model established in step (3) into
In, obtain step 3d) in 2 > of < 1 >, <, < 3 >, tri- expression formulas, 3 > of simultaneous < 1 >, < 2 >, <, tri- expression formulas will
It obtains by the geometry mould of the geometrical model sphere of direct-path signal, the geometrical model rotational ellipsoid of single order multipath and second order multipath
The flat circle of type sphere three intersection:
The equation of this flat circle is Tx 2+Tz 2=R2, R is the radius of flat circle, and the size of R is when being reached by the wave in different paths
Between τA、τB、τABIt determines.
Step 5: according to the multipath signal angle of arrival of point target, obtaining by radar site Q, point target position A and virtual
The ∠ AQP of radar site P composition.
Step 6: determining target location coordinate.
6a) according to the disk equation T in step (4)x 2+Tz 2=R2With the size of ∠ AQP in step (4), a mistake is obtained
Radar points Q and angle are the ray of ∠ AQP size, thus ray and disk equation Tx 2+Tz 2=R2Intersection point obtain the x of target
Axial coordinate TxWith z-axis coordinate Tz；
Target position [T 6b) is obtained by 3 > of formula < 1 > and formula < in step 3d)x,Ty,Tz]:
6b1) according to ∠ AQP size, obtain one and cross radar points Q and angle is the ray of ∠ AQP size, thus ray with
Disk equation Tx 2+Tz 2=R2Intersection point obtain the x-axis coordinate T of targetxWith z-axis coordinate Tz；
6b2) by 1 > of geometrical model sphere equation < of direct-path signal in step 3d) and second order multipath geometrical model ball
3 > of body equation < carries out simultaneous solution, determines TyCoordinate completes the positioning to target position.
Effect of the invention can pass through following emulation further verifying.
1. experiment condition:
If radar parameter is identical, reflecting surface parameter is different,
Referring to the coordinate system built up in Fig. 2, the coordinate vector for defining radar is Q=[0, -5000,0] m, it is assumed that target
Coordinate vector is A=[3000, -4000,5000] m.
2. experiment content and result:
Experiment 1 is horizontality in reflecting surface, and the wave in each path reaches the time for τA=3.9441e-05s, τB=
7.1492e-05s、τABUnder conditions of=4.0825e-05s, low latitude point target is positioned with the method for the present invention, as a result as schemed
Shown in 3.
Experiment 2 is heeling condition, azimuth angle alpha=30 ° and pitch angle β=45 ° in reflecting surface, when the wave in each path reaches
Between be τA=4.6361e-05s, τB=8.7261e-05s, τABUnder conditions of=6.6811e-05s, with the method for the present invention to low
Null point target is positioned, as a result as shown in Figure 4.
From figs. 3 and 4 it can be seen that target position set in the target position result and experiment of the method for the present invention emulation
Set difference about are as follows: [2.0326, -1.5583,3.0546] m；It is more than 10km for target range radar, this error is relatively
It is small.Prove that very high precision is located to target under low elevation angle multi-path environment in the method for the present invention.
The present invention can not only position the radar point target under multi-path environment, and easy to accomplish in engineering.
Claims (2)
1. a kind of radar Direct Three-dimensional space target positioning method utilized based on multipath characterized by comprising
(1) radar emission signal s is obtainedt(t) echo data sr(t), the wave for obtaining different paths reaches time τA、τB、τAB,
In, τATime, τ are reached for the wave of direct waveBTime, τ are reached for the wave of second order multipathABThe wave of single order multipath reaches the time:
(2) radar target geometry location model is established:
Coordinate system 2a) is established, defines a monostatic radar position Q and point target position A in a coordinate system:
Q=[Rx,Ry,Rz], A=[Ax,Ay,Az]；
2b) in a coordinate system to point target reflecting surface information initializing, symmetric position according to radar site about reflecting surface is obtained
To the location point P of virtual radar:
P=[Dx,Dy,Dz]；
2c) according to monostatic radar position Q, point target position A, the position P of virtual radar and point target reflecting surface information, establish
Mathematical model expression formula:
Wherein, first expression formula is with Q=[Rx,Ry,Rz] point be the centre of sphere ball, be the geometrical model of direct-path signal；
Second expression formula is with Q=[Rx,Ry,Rz], P=[Dx,Dy,Dz] point be focus rotational ellipsoid, be single order multipath
The geometrical model of signal, this geometrical model are established by rotary shaft of y-axis；
Third expression formula is with P=[Dx,Dy,Dz] be the centre of sphere ball, be the geometrical model of second order multipath；
C is the spread speed of electromagnetic wave in space, [Tx,Ty,Tz] it is the target position to be measured；
(3) difference path wave obtained in step (1) is reached into time τA、τB、τABIt brings into the mathematical model established in step (2),
Simultaneous will obtain several by the geometrical model sphere of direct-path signal, the geometrical model rotational ellipsoid of single order multipath and second order multipath
The flat circle of what model sphere three intersection；
(4) it according to the multipath signal angle of arrival of point target, obtains by the position of radar site Q, point target position A and virtual radar
Set the ∠ AQP of P composition；
(5) according to the size of disk equation and angle ∠ AQP in step (4) in step (3), target position is obtained:
5a) according to ∠ AQP size, obtains one and cross radar points Q and angle as the ray of ∠ AQP size, thus ray and circle are flat
Face equation Tx 2+Tz 2=R2Intersection point obtain the x-axis coordinate T of targetxWith z coordinate Tz；
5b) 1 > of geometrical model sphere equation < of direct-path signal and 3 > of second order multipath geometrical model sphere equation < is carried out
Simultaneous determines TyCoordinate completes the positioning to target position.
2. according to the method described in claim 1, the flat circle that wherein step (3) obtains, plane equation Tx 2+Tz 2=
R2, R is the radius of flat circle, and the size of R is to reach time τ by the wave in different pathsA、τB、τABIt determines.
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| CN109085572B (en) * | 2018-09-05 | 2022-08-12 | 西安电子科技大学昆山创新研究院 | Moving target tracking method based on multipath utilization millimeter wave radar in tunnel |
| CN110764084A (en) * | 2019-11-07 | 2020-02-07 | 西北工业大学 | Radar detection method for shielding target under complex terrain |
| CN112415500B (en) * | 2020-11-20 | 2023-06-13 | 广州极飞科技股份有限公司 | Target object position detection method and related device |
| CN112817015B (en) * | 2021-01-04 | 2022-06-28 | 上海交通大学 | Method and system for estimating position of reflecting surface by utilizing GNSS multipath reflection signals |
| CN113534219B (en) * | 2021-07-15 | 2023-06-30 | 西安电子科技大学 | Beidou positioning outdoor target method based on multipath utilization |
| CN113532437B (en) * | 2021-07-15 | 2022-12-02 | 西安电子科技大学 | Ultra-wideband indoor target positioning method based on multipath utilization |
| CN113534225B (en) * | 2021-07-15 | 2023-03-10 | 西安电子科技大学 | Method for positioning target at indoor and outdoor joint of Beidou and ultra wide band based on multipath utilization |
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