CN108181606A - Radiation source based on array element radiation energy is made an uproar passive orientation method - Google Patents
Radiation source based on array element radiation energy is made an uproar passive orientation method Download PDFInfo
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- CN108181606A CN108181606A CN201711458432.7A CN201711458432A CN108181606A CN 108181606 A CN108181606 A CN 108181606A CN 201711458432 A CN201711458432 A CN 201711458432A CN 108181606 A CN108181606 A CN 108181606A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/783—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
- G01S3/784—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems using a mosaic of detectors
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- Electromagnetism (AREA)
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Abstract
The present invention relates to space object directional technologies.It makes an uproar passive orientation method the invention discloses a kind of radiation source based on array element radiation energy, including step：The placement sensor on m face, makes the m face receive same radiation source irradiation, and radiation source vector isThe unit area radiation energy that radiation source directly radiates in the i-th plane is ei, the unit normal vector of the i-th plane isEstablish Orientation MatricesWith unit area radiation energy matrixMeasure radiation energy of the radiation source on the m faceAnd noise energyAccording to formulaAcquire the radiation source vector of radiation sourceAccording to formulaAcquire the estimated value of the radiation source vector of radiation sourceBy radiation source vectorObtain direction angle alpha, β, γ of radiation source：G, withIt represents because of noiseThe evaluated error generated is interfered, according toIt acquiresAccording toOrientation error is estimated.The present invention can estimate directional properties according to system signal noise ratio, and noise is inhibited.
Description
Technical field
The present invention relates to space object directional technologies, special specifically about the spatial orientation technical field of radiation source
It is not related to the radiation source based on array element radiation energy to make an uproar passive orientation method.
Background technology
The passive directional technology of radiation source has critical role and effect in the army and the people such as navigation, space flight, electronic warfare application field.
Existing research emphasis concentrates on two aspect of Estimation of Spatial Spectrum and optical imagery of array signal processing.The former is with the frequency of radiation source
Rate, amplitude and phase property realize the orientation to far field radio-signal source, and detected object is limited to radio；The latter is with radiation source
Optical signature realize that, to the orientation of optical emitter, detected object is limited to optical emitter.Theoretically, Estimation of Spatial Spectrum is at system
Manage in bandwidth has great advantage to the estimation of spacing wave source angle and correlated variables in precision, in radar, mobile communication
There are bright prospects with fields such as sonars.But it estimates signal number purpose, the decorrelation LMS of signal source and array element channel pass
The solution of the problems such as consistency of defeated characteristic remains deficiency, and many problems are still faced in functionization.In addition, for broadband
The orientation of signal source, Estimation of Spatial Spectrum orient realization, these methods requirement battle array using several narrow band signal sources are broken down into
The number of member is more than the number of signal source, and therefore, orientation bandwidth is limited to array number.The directional technology of optical imagery is because of precision
Height has been widely used in many fields, such as the sun in space flight Satellite gesture stability or space flight beaching accommodation auxiliary positioning
Angular measurement realizes early warning etc. on ground or in the air to optical emitters such as laser in military affairs without source orientation.Occur in recent years
Many big visual fields, high-precision optical emitter orientation method, especially in space industry, such as based on CMOS APS faces battle array image biography
Other sun-orientation methods such as the sun-orientation method of sensor and utilization vernier caliper.However, because realization principle limits, these sides
The detection viewing field of method is less than 180 °, because the height in detector array and light source incidence hole is more than 0 or because of detector and the height of slit
Degree is more than 0, their detection viewing field is respectively less than 180 °.For present in Estimation of Spatial Spectrum and optical imagery directional technology not
Foot, the new technology that some document propositions orient radiation source spherical surface full filed with array element radiation energy.With Estimation of Spatial Spectrum and optics
The directional technology of imaging is compared, it is oriented with the essential characteristic radiation energy of radiation source to realize, theoretically meets all radiation sources
Without source orientation, therefore, there is great advantage in application range；Meanwhile orientation requires nothing more than the radiation of array element detection output
The ratio of energy that can be with radiation source radiation on array element test surface is same constant, and the measurement of radiation energy is relatively easy,
Therefore, also there is advantage in system realization.However, existing research is the spoke for being directly radiated array element detection output with 3
The method for penetrating energy directed radiation source, because implementation method limits, they do not have noiseproof feature, lead to them in practical applications
Orientation accuracy easily by noise jamming, be 4.4 ° usually in fine subaerial sun surface orientation precision.For in noise circumstance
Orientation application, which still lacks effective anti-interference method.
Invention content
It is a primary object of the present invention to provide a kind of radiation source based on array element radiation energy to make an uproar passive orientation method, use
Arbitrary m (m>3) a radiation energy directional space radiation source for being directly radiated planar detector output.
To achieve these goals, it according to the one side of the specific embodiment of the invention, provides a kind of based on array element
The radiation source of radiation energy is made an uproar passive orientation method, is included the following steps：
A, the placement sensor on m face, there are the non-coplanar planes of 3 normals in the m face；Wherein, m is whole
Number, m ＞ 3；
B, the m face is made to receive same radiation source irradiation, radiation source vector isRadiation source directly radiates
Unit area radiation energy in the i-th plane is ei, the unit normal vector of the i-th plane is Its
In, αi, βi, γiForDeflection, i=1,2 ..., m；
C, Orientation Matrices are establishedWith unit area radiation energy matrix
D, radiation energy of the radiation source on the m face is measuredAnd noise energy
E, according to formulaAcquire the radiation source vector of radiation sourceAccording to formula
Acquire the estimated value of the radiation source vector of radiation sourceWherein：A-1For the inverse matrix of A, ATTransposed matrix for matrix A；
F, by the radiation source vectorObtain direction angle alpha, β, γ of radiation source： Wherein,
G, withIt represents because of noiseThe evaluated error generated is interfered, according toIt acquires
H, basisOrientation error is estimated.
Further, the m face is m face on polyhedron.
Further, the step D includes：
D1, the inductive signal of acquisition sensor output；
D2, the mapping relations according to inductive signal intensity and radiation energy, obtain radiation energy
Further, the radiation source is light source.
Specifically, the radiation energyIt is expressed as the current or voltage of sensor output.
Have, the noiseIncluding multi-path jamming noise and/or sensor noise floor.
The invention has the advantages that the spherical surface full filed to radiation source under noise conditions is realized by polyhedral array
Orientation, based on radiation source orientation error relational expression is established by geometrical relationship between vector, it is fixed to be estimated according to system signal noise ratio
To performance, noise is inhibited.
The present invention is described further with reference to the accompanying drawings and detailed description.The additional aspect of the present invention and excellent
Point will be set forth in part in the description, and partly will become apparent from the description below or by practice of the invention
It solves.
Description of the drawings
The attached drawing for forming the part of the application is used to provide further understanding of the present invention, specific implementation of the invention
Mode, illustrative embodiments and their description do not constitute improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
The relation schematic diagram of Fig. 1 radiation source vectors and plane；
Fig. 2 vectorsWithGeometrical relationship schematic diagram.
Specific embodiment
It should be noted that in the absence of conflict, specific embodiment, embodiment in the application and therein
Feature can be combined with each other.It lets us now refer to the figures and combines the following contents the present invention will be described in detail.
In order to which those skilled in the art is made to be better understood from the present invention program, below in conjunction with specific embodiment party of the present invention
Attached drawing in formula, embodiment carries out the technical solution in the specific embodiment of the invention, embodiment clear, complete description,
Obviously, described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Based in the present invention
Specific embodiment, embodiment, the institute that those of ordinary skill in the art are obtained under the premise of creative work is not made
There are other embodiment, embodiment, should all belong to the scope of protection of the invention.
Current invention assumes that radiation source is far-field radiation source, to space observation point, radiation approximation satisfaction is mutually parallel
Condition.The direction for defining radiation source vector is the negative direction of radiation energy transmission direction, and mould is radiation source vertical radiation flat
Unit area radiation energy on face.In the present invention, letter top carries symbol all representative vectors of arrow, such asDeng；Its
He is related to vector, the symbol of matrix further includes：Representative vectorMould, A-1Represent the inverse matrix of A, ATRepresent turning for matrix A
Matrix is put, | | ... | |2Represent norm of matrix or vector etc..
If radiation source vector isThe unit normal vector of space plane P isWithAngle beAs shown in Figure 1.
According to the cosine law, the irradiation level on any one surface presss from both sides cosine of an angle between the surface normal and radiation energy transmission direction
And change.By the geometrical relationship in Fig. 1 it is found that radiation source directly unit area radiation energy of the radiation on plane P is Mould for radiation source vector.With reference to definition of inner product, radiation source directly unit area radiation energy of the radiation on plane P is equivalent to
Radiation source vector and the inner product of the face unit normal vector,WithBetween meet relationship：
If the number of planes that radiation source directly radiates is m (m ＞ 3), the unit normal vector of the i-th plane is in these planes(i
=1,2 ..., m), the unit area radiation energy that radiation source directly radiates in the i-th plane is bi.In rectangular coordinate system in space
On, enable radiation source vectorWherein αi, βi, γiForDeflection.ByWith
Inner product relationship, obtain：
xcosαi+ycosβi+zcosγi=bi (2)
Enable the matrix of m × 3It can be obtained by formula (2)By its both sides premultiplication square
Battle array AT, obtain：
It is assumed that there are 3 non-coplanar planes in the plane that radiation source directly radiates, because of m ＞ 3, it is known that the order of matrix A is
3, matrix ATA is nonsingular, at this point, equation group (3) has unique solution:
The radiation source vector acquired by formula (4)Obtaining its direction cosines is:
Wherein, α, beta, gamma are radiation source vectorDeflection, that is, the attitude of radiation source,
It will be irradiated object and become polyhedron, to the radiation source of space any direction, if polyhedral geometry meets：
There are the radiation source direct irradiation plane that 3 or more normals are non-coplanar on polyhedron, then radiation source vector can be by polyhedron
The unit normal vector for being directly radiated plane is acquired with radiating the unit area radiation energy in these planes by formula (4), and
The attitude of radiation source can be acquired by formula (5).
Being located at the unit area radiation energy detected in the direct radiator plane of radiation source isη is constant, is substituted into
Formula (4), obtaining radiation source vector isCauseWithIn the same direction, it is known that η is unrelated with the orientation of radiation source direction in space, as a result, formula
(4) become:
Whereine1e2...emFor the unit area detected in the plane that is directly radiated by radiation source
Radiation energy.
According to above-mentioned derivation, if being met by the polyhedral array that array element test surface is formed：The radiation source of space any direction
There are the radiation source direct irradiation plane that 3 or more normals are non-coplanar on the polyhedron, meanwhile, radiation source radiation is visited in array element
Energy and the ratio of the radiation energy of array element detection output on survey face are same constant, then the array element detection being directly radiated can be used
The unit normal vector in face and the radiation energy of these array elements detection output, are realized complete to the spherical surface of radiation source by formula (6) and (5)
Visual field orients.
Be under ideal conditions, in the output of array element do not have it is noisy, be directly radiated array element detection output radiation energy group
Into vectorWith radiation source vectorMeet relationship：
In practical application, because geometrical deviation existing for the imperfection of array element working performance, array element test surface spatial position,
The influence of multipath transmisstion and other jamming emitters, there are noise in the output of array element, including multi-path jamming noise, sensor
Background noise etc..If the noise vector that the noise exported by each array element is formed is It can must be radiated by formula (6)
The estimated value of source vectorFor:
It enablesWhereinFor because of noise vectorInterfere the evaluated error generated.It willIt substitutes into
Formula (8), obtains:
It can be according to noise vector by formula (9)Orientation error is obtained, so as to fulfill the orientation under noise conditions.
Because Orientation Matrices A is the sequency spectrum matrix of m × 3, so, its column space is m dimension real vector spaces RmClose son
Space.According to the orthogonal decomposition theorem of vector, m dimension noise vectorsIn RmThe decomposition vector of space existence anduniquessWithSo thatWherein,It isIn the projection vector of the column space of Orientation Matrices A,It isOrientation Matrices A column space just
Hand over the projection vector of complementary space.It willSubstitution formula (9), obtains：
Due to ATRow vector with vectorIt is orthogonal, i.e.,It is 0.Formula (10) can be reduced to as a result,：
By formula (11) as it can be seen that noise vectorIt is projected in point vector of the orthogonal complement space of the column space of Orientation MatricesQuilt
Effectively remove, interfere the reality of orientation only remaining noise vector be projected in Orientation Matrices column space point vectorAccording to norm
Property is had by formula (11):
Due to vectorWithIt is noise vectorOrthogonal Decomposition vector, according to Pythagorean theorem, have：
Formula (13) is substituted into formula (12), is obtained：
Define radiation source vectorWith its estimated valueAngle theta the orientation error of radiation source described.It is assumed that radiation source is sweared
Amount meets relationship with its evaluated error：Radiation source vectorWith its estimated valueAnd evaluated errorGeometry close
System is as shown in Figure 2.From Figure 2 it can be seen that when the estimated value of radiation source vectorAnd evaluated errorWhen being mutually perpendicular to, generated by noise
Orientation error for maximum value, if it is orientation error upper bound of radiation source, labeled as θsup.Obviously, existCondition
Under, the orientation error upper bound θ of radiation sourcesupWith evaluated error vectorMould reduction and reduce.CauseBy formula
(14) as long as it is found that noise vectorIn the projection vector of the orthogonal complement space of the column space of Orientation MatricesNon-zero, then by noise
Interfere the evaluated error generatedMould will be reduced, correspondingly, because noise jamming generate the orientation error upper bound also subtracted
It is small.At this point, noise will be effectively suppressed the interference effect of orientation.Particularly, when noise vector is projected in Orientation Matrices completely
Column space the orthogonal complement space when, i.e.,WithWhen equal, evaluated errorIt is 0, correspondingly, the orientation error upper bound is also 0.
At this point, noise will be completely removed the interference of orientation.
In practical application, the noise vector of jamming emitter orientation is usually by multi-path jamming noise, sensor noise floor
It is superimposed and generates etc. a variety of interference noises, this so that their projections in the orthogonal complement space of the column space of Orientation Matrices are typically
Non-zero.Array element radiation energy is based on since in technical scheme of the present invention, the array element of placement sensor is above-mentioned more than 3 (i.e. m ＞ 3)
Radiation source orientation method have effectively inhibit orient noise to radiate source orientation interference in addition completely removal interference property
Energy.The noise on the column space of Orientation Matrices will not be effectively removed by the orientation method of the present invention for all projections.
Radiation energyThe sensor sensing signal that can be arranged in by acquisition on each face, the electricity exported such as sensor
Stream or voltage obtain.For the dimensional orientation angular measurement that radiation source is light source, photocell, photo resistance may be used in sensor
Deng being obtained by measuring its output current or voltage.Sensor, which exports inductive signal intensity and the mapping relations of radiation energy, to be had
Device manufacturer provides, and can usually be obtained according to the product manual that device supplier provides.
It measures in obtained radiation energyWherein noise vectorIncluding multi-path jamming noise and sensor noise floor,
When sensor noise floor can be ignored, noise vectorIt is exactly the noise that multi-path jamming generates.
Claims (6)
- The passive orientation method 1. the radiation source based on array element radiation energy is made an uproar, includes the following steps：A, the placement sensor on m face, there are the non-coplanar planes of 3 normals in the m face；Wherein, m is integer, m ＞ 3；B, the m face is made to receive same radiation source irradiation, radiation source vector isRadiation source is directly radiated i-th Unit area radiation energy in plane is ei, the unit normal vector of the i-th plane is Wherein, αi, βi, γiForDeflection, i=1,2 ..., m；C, Orientation Matrices are establishedWith unit area radiation energy matrixD, radiation energy of the radiation source on the m face is measuredAnd noise energyE, according to formulaAcquire the radiation source vector of radiation sourceAccording to formulaIt asks Obtain the estimated value of the radiation source vector of radiation sourceWherein：A-1For the inverse matrix of A, ATTransposed matrix for matrix A；F, by the radiation source vectorObtain direction angle alpha, β, γ of radiation source： Wherein,G, withIt represents because of noiseThe evaluated error generated is interfered, according toIt acquiresH, basisOrientation error is estimated.
- The passive orientation method 2. the radiation source according to claim 1 based on array element radiation energy is made an uproar, which is characterized in that institute M face is stated as m face on polyhedron.
- The passive orientation method 3. the radiation source according to claim 1 based on array element radiation energy is made an uproar, which is characterized in that institute Step D is stated to include：D1, the inductive signal of acquisition sensor output；D2, the mapping relations according to inductive signal intensity and radiation energy, obtain radiation energy
- The passive orientation method 4. the radiation source according to claim 1 based on array element radiation energy is made an uproar, which is characterized in that institute Radiation source is stated as light source.
- The passive orientation method 5. the radiation source according to claim 4 based on array element radiation energy is made an uproar, which is characterized in that institute State radiation energyIt is expressed as the current or voltage of sensor output.
- The passive orientation method 6. the radiation source according to claim 1 based on array element radiation energy is made an uproar, which is characterized in that institute State noiseIncluding multi-path jamming noise and/or sensor noise floor.
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| CN110031554A (en) * | 2019-03-26 | 2019-07-19 | 深圳市理邦精密仪器股份有限公司 | Array element localization method, device and the terminal of flexible ultrasonic transducer |
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| CN110208732A (en) * | 2019-05-30 | 2019-09-06 | 成都信息工程大学 | Radiation source orientation system Orientation Matrices and directional array optimization method |
| CN111722177A (en) * | 2019-03-22 | 2020-09-29 | 成都信息工程大学 | Method for determining radiation source orientation error |
| WO2020192525A1 (en) * | 2019-03-22 | 2020-10-01 | 成都信息工程大学 | Irradiance-based radiation source orientation method |
| CN112525104A (en) * | 2020-12-18 | 2021-03-19 | 昆明理工大学 | Digital holographic three-dimensional shape measuring device and method |
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