CN108205121A - A kind of single channel passive location method based on TOA change rates - Google Patents

A kind of single channel passive location method based on TOA change rates Download PDF

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CN108205121A
CN108205121A CN201611188289.XA CN201611188289A CN108205121A CN 108205121 A CN108205121 A CN 108205121A CN 201611188289 A CN201611188289 A CN 201611188289A CN 108205121 A CN108205121 A CN 108205121A
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toa
change rates
target location
observation
single channel
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CN108205121B (en
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朱晓丹
朱伟强
陈卓
王克让
李娟慧
陈曦
季权
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8511 Research Institute of CASIC
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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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The present invention provides a kind of single channel passive location method based on TOA change rates, includes the following steps：Step 1, observation station receives echo signal, obtains the arrival time sequence of echo signal, goes out TOA change rates according to arrival time sequence estimation；Step 2, in the position range of observation, it is assumed that target location；Step 3, using target location rough estimate evaluation, gradient and Hessian matrixes are calculated；Step 4, gradient and Hessian matrixes when being using target location, calculate updated position estimation value；Step 5, it if updated position estimation value meets condition, completes to position.

Description

A kind of single channel passive location method based on TOA change rates
Technical field
The present invention relates to a kind of passive location technology, particularly a kind of single channel passive location side based on TOA change rates Method.
Background technology
Passive location technology refers to the technology positioned according to the signal of target emanation, is supervised in survey of deep space, radio The fields such as survey, navigation, Aeronautics and Astronautics, observing and controlling, electronic countermeasure all have been widely used, and receive attention both domestic and external.It is passive fixed Position can be divided into mono-station location and multistation location, and most commonly seen mono-station location method is angle finding position fixing method.In these positioning In system, realize that positioning has wide Research Prospects using single channel, can greatly reduce system equipment amount, for grinding The reconnaissance system of system miniaturization has a very important significance.At present, in terms of single channel positioning, mainly have frequency domain method and when The research of domain method, wherein frequency domain method is relatively more, mainly includes frequency measurement positioning, frequency change rate positioning etc..Time domain approach It studies relatively fewer.(Li Zonghua, Guo Fucheng, Monday space, Sun Zhong health measure the Single passive location tracking of TOA and DOA to document Observable condition [J] National University of Defense technology journal, 2004,26 (2):30-34.) analyze the side using TOA joint DOA positioning Method, related thought can be used for realizing single channel only TOA positioning, and without measuring TOA change rates, but this method is being located It is larger to manage TOA hour operation quantities, utilizing works are not realized.(Xu Yi, Guo Fucheng, it is passive that a kind of single stars of the prosperous in Feng road only survey TOA to document Localization method [J] aerospace journals, 2010,31 (2)：502-508.) by estimating TOA change rates and secondary change rate, and therefrom The radial acceleration of observation station relative target is estimated, so as to establish target location relation equation group, solution obtains target location. But this method assumes observation station there are certain acceleration, this side during if there is no acceleration or smaller acceleration Method is no longer applicable in.
The present invention proposes a kind of localization method based on TOA change rates, estimates first for single channel TOA orientation problems Go out TOA change rates, then positioned.The present invention only requires that observation station has movement, without requiring observation station with certain acceleration Degree movement, therefore the scope of application is wider than the above-mentioned method based on relatively radially acceleration, simultaneously because first passing through analytic method TOA change rates are estimated, calculation amount is again smaller than the method directly positioned using TOA.The present invention provides one kind to be based on TOA Practical localization method, there is certain theory and engineering application value.
Invention content
The purpose of the present invention is to provide a kind of single channel passive location method based on TOA change rates, relatively direct profits It is more suitable for engineer application, and the method that scope of application compared estimate acceleration is positioned again is more extensive with the TOA methods positioned.
A kind of single channel passive location method based on TOA change rates, it is characterised in that：Include the following steps：
Step 1, observation station receives echo signal, obtains the arrival time sequence of echo signal, and M sections altogether, every section is N number of, It is denoted as TOA1,TOA2,…,TOA(m-1)+n,…,TOAMN, n is serial number in section, n=1 ..., N, and m is section serial number, m=1 ..., M, root Go out TOA change rates according to arrival time sequence estimation
Step 2, in the position range of observation, it is assumed that the T of target location0；
Step 3, target location rough estimate evaluation T is utilized0, calculate gradientWith Hessian matrixes
Step 4, it is T using target location0When gradientWith Hessian matrixesAfter calculating update Position estimation value
Step 5, ifIt then completes to position, the final estimated value in target location isOtherwise it enablesGo to step 3.
The present invention is suitable for motion view survey station to the positioning of the fixation target of constant cycle radiation signal, such as carrier aircraft counterweight The radar of multiple constant period is positioned.Compared with prior art, the present invention it has the following advantages：
(1) locating speed is improved compared with single channel TOA is positioned；
(2) compared with single channel TOA secondary change rates, the scope of application is wider；
(3) it is likewise supplied with single channel TOA is positioned, equipment amount possessed by the positioning of TOA secondary changes rate is small, realization is simple etc. Advantage.
The present invention is described further with reference to the accompanying drawings of the specification.
Description of the drawings
Fig. 1 is TOA change rate localization process flow diagrams.
Fig. 2 is the relation schematic diagram of TOA change rates evaluated error and TOA evaluated errors.
Fig. 3 is TOA change rates evaluated error and the relation schematic diagram of pulse number.
Fig. 4 is TrInitial value deviation is 0.001%TrWhen, with the position error schematic diagram of convergence number variation.
Fig. 5 is TrInitial value deviation is 0.002%TrWhen, with the position error schematic diagram of convergence number variation.
Specific embodiment
With reference to Fig. 1, a kind of single channel passive location method based on TOA change rates, it is characterised in that：Including following step Suddenly：
Step 1, observation station receives echo signal, obtains the arrival time sequence of echo signal, and M sections altogether, every section is N number of, It is denoted as TOA1,TOA2,…,TOA(m-1)+n,…,TOAMN, n is serial number in section, n=1 ..., N, and m is section serial number, m=1 ..., M, root Go out TOA change rates according to arrival time sequence estimation
Step 2, in the position range of observation, it is assumed that the T of target location0；
Step 3, target location rough estimate evaluation T is utilized0, calculate gradientWith Hessian matrixes
Step 4, it is T using target location0When gradientWith Hessian matrixesAfter calculating update Position estimation value
Step 5, ifIt then completes to position, the final estimated value in target location isOtherwise it enablesGo to step 3.
1st, TOA models
Since tangential motion does not influence the variation of TOA, the influence of radial motion is only considered.Consider that there are acceleration Situation, it is assumed that in one section of observation time, radial acceleration is constant, and the distance of initial time receiving station and target is denoted as r0, speed ForThe distance for for time zero, receiving n-th of pulse receiving station constantly is sent out as r with first pulsen, light velocity c, letter Number repetition period (PRI, Pulse Repetition Interval) is Tr, then it is at the time of receiving n-th of pulse
Wherein
Then haveIt solves
Exist to radical sign itemPlace's the second Taylor series obtain
Substitution obtains
Consider the deviation t of clock0, abbreviation obtains the TOA sequences that receiver is estimated and is denoted as
Wherein,t0' it is the unknown constant being unrelated with the time.It can be found that in the presence of During acceleration, TOA is in the rule of secondary change, and secondary change rate isOne-shot change rate is with changing over time, initially It is worth and isIt is related with PRI, radial velocity, radial acceleration.
If acceleration is zero, can estimate to obtain using method like above
This is that zero obtained result is consistent with enabling acceleration in formula, and TOA change rates areWith radially speed Degree is related with PRI.
2nd, TOA change rates are estimated
Respectively remember that TOA change rates and secondary change rate areThen above-mentioned model can be write as it is following to Amount form
According to criterion of least squares, obtain change rate and be estimated as
Wherein,
If the independent same Gaussian Profile of each estimation of TOA, variance σTOA 2, thent0' evaluated error is full Sufficient zero-mean gaussian distribution, variance are denoted as σa 2、σb 2、σt 2, then can be derived by
Therefore have
Therefore have
3rd, TOA change rates position
Estimation obtains aboveMiddle PRI withIt is coupling, common PRI methods of estimation are poor to TOA progress Value is average, and can be obtained according to above formulaTherefore, although the absolute deviation of this method of estimation very It is small, but the deviation includes radial velocity information, and the radial velocity estimated in this way is not used to target positioning.Namely It says, in positioning is applied, can not estimate to obtain relative radial rate by TOA one-shot change rates.
Can obtain TOA one-shot change rates by formula is
It calculates it can be found that above-mentioned first item is smaller, less than the several orders of magnitude of Section 2.If it is normalized according to speed public FormulaIt calculates, first item is less than 0.001m/s, therefore can ignore its influence, that is, when being applied to positioning, recognizes To have constant relative radial rate in this section observation, TOA one-shot change rates areIt is identical with a model, The estimated value still cannot be converted into relative radial rate and be positioned.Therefore, positioning needs are carried out using TOA change rates It solves the problems, such as, in the presence of that can not estimate parameter PRI, to study the localization method estimated without PRI.
From analysis above it is recognised that comprising location information being the normalized TOA change rates of PRI, i.e.,Pass through estimationAnd position relationship, carry out M cumulative observations, can establish as shown in formula about PRI with The equation group of target location
Pm、vmDuring respectively the m times observation, the position of observation station and speed, T are target location." | | | | " represent vector Length.I.e.
M (m=1 ..., M) it is observation frequency.Being write as vector form is
It enablesEstablish estimation function
According to criterion of least squares, PRI should meet
Substitution formula obtains
Wherein,WTW=W=WT, IM×MUnit matrix for M × M dimensions.By to target position It puts and scans for, the position for making cost function minimum is the estimation of target location.This algorithm avoids the estimation to PRI, Can direct estimation obtain target location.
4th, Newton iteration method
Remember F (T)=yTWy has according to Newton method
In formula, T0For initial position,For initial position T0Gradient and Hessian matrixes.
(1) gradient is
(2) Hessian matrixes
In formula,Represent Kronecher products, I2×2For 2 × 2 unit matrix,It represents to vector By rearrangement.
5th, l-G simulation test
The present invention provides there are the estimation model and method of TOA change rates when speed and acceleration, and give profit The method positioned with TOA change rates.
Specific example is given below, the present invention is described in more detail, wherein embodiment one shows that the estimation of TOA change rates misses Difference is with TOA evaluated errors and the relationship of pulse repetition；Embodiment two shows the algorithm of the present invention in positioning convergence and precision side Face embodies the validity of the method for the present invention better than the method for directly carrying out Newton iteration.
1.1 embodiments one：The impact analysis of signal and parameter measurement to range rate error
(1) influence of the TOA evaluated errors to range rate error
Emulation 1：Speed is 150m/s, and the TOA using 500 pulses is estimated, the signal repetition period is 1ms, is passed through 500 Monte Carlo simulations obtain acceleration as 5m2During/s, TOA change rates evaluated error with TOA evaluated errors variation relation (being equivalent to speed estimation error).Simulation result is as shown in Figure 2.
As seen from Figure 2, range rate error is directly proportional to TOA evaluated errors；When TOA evaluated errors are smaller, use is secondary Model estimated accuracy is higher；It is higher using a model estimated accuracy when TOA evaluated errors are larger.
(2) influence of the repetition to range rate error
Emulation 2：Acceleration is 5m2/ s, speed 150m/s observe 500ms, are obtained by 500 Monte Carlo simulations Pulse is in the range of 20~5000, the size (being equivalent to speed estimation error) of TOA change rate evaluated errors.Simulation result is as schemed Shown in 3.
As seen from Figure 3, in same observation time, pulse number is more, and speed estimation error is smaller, and positioning misses Difference is smaller.
1.2 embodiments two：Algorithm Error and convergence
Observation station initial position is [0,0] km, and speed is [150,0] m/s, and acceleration is [5,0] m2/s.Emulate duration Ts For 80s, the signal repetition period is 1ms, and the pulse points of estimation TOA change rates are 500 (0.5s), initial position be set as [30, 150] km, TOA evaluated error are 5ns, carry out 100 this Monte Carlo simulation.TrInitial value deviation is respectively 0.001%Tr、 0.002%TrWhen, with convergence number variation position error curve as shown in Figure 4, Figure 5, in figure " MNI " represent Newton iteration it is straight Localization method is connect, " NI " represents the method for directly using Newton iteration.In addition, when Tr initial values are selected as actual value or less than certain (it is less than 10-8T in this example during degreerWhen), the method for directly carrying out Newton iteration optimization can not even restrain.
With reference to Fig. 4, Fig. 5 it is recognised that directly carrying out Newton iteration positioning, convergent probability is less than side proposed by the present invention Method；If TrInitial value selection is suitable, and two methods can restrain, but method convergence rate proposed by the present invention is faster than directly The method for carrying out Newton iteration directly carries out the method convergence property and T of Newton iterationrInitial value is related.

Claims (3)

  1. A kind of 1. single channel passive location method based on TOA change rates, it is characterised in that：Include the following steps：
    Step 1, observation station receives echo signal, obtains the arrival time sequence of echo signal, M sections altogether, every section N number of, is denoted as TOA1,TOA2,…,TOA(m-1)+n,…,TOAMN, n is serial number in section, n=1 ..., N, and m is section serial number, m=1 ..., M, according to TOA change rates are estimated up to time series
    Step 2, in the position range of observation, it is assumed that the T of target location0；
    Step 3, target location rough estimate evaluation T is utilized0, calculate gradient ▽ F (T0) and Hessian matrixes ▽2F(T0)；
    Step 4, it is T using target location0When gradient ▽ F (T0) and Hessian matrixes ▽2F(T0), calculate updated position Estimated value
    Step 5, ifIt then completes to position, the final estimated value in target location isOtherwise it enablesTurn Step 3.
  2. 2. according to the method described in claim 1, it is characterized in that：In step 1, TOA change rates method of estimation is：
    (1) if there are acceleration for observation station, TOA change rates are calculated according to formula (1)
    (2) if acceleration is not present in observation station, TOA change rates are calculated according to formula (2)
  3. 3. according to the method described in claim 1, it is characterized in that：In step 3, according to target initial position T0Calculate gradient ▽F(T0) and Hessian matrixes ▽2F(T0) method be：
    Step 3.1,
    Wherein,Expression enables T=T0When the value that is calculated,
    Pm、vmThe position of observation station and speed, T are target location during respectively the m times observation, IM×MFor the unit matrix of M × M dimensions, c is the light velocity；
    Step 3.2,
    It represents to vectorBy rearrangement,
    Represent Kronecher products, I2×2For 2 × 2 unit matrix.
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