CN108226858A - Coordinate detection method and computer readable storage medium - Google Patents
Coordinate detection method and computer readable storage medium Download PDFInfo
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- CN108226858A CN108226858A CN201711336933.8A CN201711336933A CN108226858A CN 108226858 A CN108226858 A CN 108226858A CN 201711336933 A CN201711336933 A CN 201711336933A CN 108226858 A CN108226858 A CN 108226858A
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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
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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
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
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Abstract
The invention discloses a kind of coordinate detection methods and computer readable storage medium, method to include：Signal of the target object on N number of direction is obtained by direction estimation antenna array, obtains corresponding to N number of signal strength sequence in N number of direction, the N is the quantity of the sub-antenna of the direction estimation antenna array；According to preset cycle time, Kalman filtering is carried out to N number of signal strength sequence respectively, obtains the prediction signal intensity in N number of direction；The prediction signal intensity in N number of direction into row vector is merged, obtains the true bearing of target object.The present invention can effectively be avoided the contingency of single-wheel signal, be improved bearing accuracy using Kalman filtering algorithm；Merge to substitute using vector and be maximized, can accurately judge orientation where target object.
Description
Technical field
The present invention relates to detection technology field more particularly to a kind of coordinate detection method and computer readable storage mediums.
Background technology
With opening gradually for low altitude airspace, unmanned plane is widely used in industry-by-industry, from be initially used to entertain mesh
, to for photography of taking photo by plane, environmental monitoring, mapping, search and rescue and military surveillance, transport the malicious purposes such as prohibited items secretly.
Therefore, key area is effectively protected, implementing effective defence and strike to unmanned plane target becomes problem, wherein
Including：Detection relevant frequency spectrum signal, direction finding, identification simultaneously track the Defense Countermeasures such as unmanned plane target.Since the characteristics of unmanned plane, is
Flying height is low, small, and flying speed is slow, and general purpose radar technology can not implement such target effectively detection, and some
There are particularity in place, do not allow to carry out management and control, such as course line, city inner region etc. using radar.
In the Chinese patent open file of Publication No. CN106371144A, it is proposed that a kind of unmanned plane is found and early warning
Device, by using direction-finder antenna array module (directional aerials of 8 deciles), according to timeslice poll scanning all directions nobody
Machine signal strength, it is unmanned plane direction to take single-wheel signal strength maximum direction.It is insufficient existing for the program：1st, single-wheel is taken to believe
There are contingency, unmanned plane directions not to be identified to, then wheel judgement direction due to noise, interference for number maximum value
It is wrong；2nd, adjacent direction signal intensity difference is away from little, easily erroneous judgement to adjacent direction；3rd, directional precision is 45 °, is only capable of judgement 8
A direction.
Invention content
The technical problems to be solved by the invention are：A kind of coordinate detection method and computer readable storage medium are provided,
Orientation where can accurately judging target object.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：A kind of coordinate detection method, including：
Signal of the target object on N number of direction is obtained by direction estimation antenna array, obtains corresponding to N number of signal in N number of direction
Sequence of intensity, the N are the quantity of the sub-antenna of the direction estimation antenna array；
According to preset cycle time, Kalman filtering is carried out to N number of signal strength sequence respectively, obtains N number of direction
Prediction signal intensity；
The prediction signal intensity in N number of direction into row vector is merged, obtains the true bearing of target object.
The invention further relates to a kind of computer readable storage mediums, are stored thereon with computer program, and described program is located
Reason device realizes following steps when performing：
Signal of the target object on N number of direction is obtained by direction estimation antenna array, obtains corresponding to N number of signal in N number of direction
Sequence of intensity, the N are the quantity of the sub-antenna of the direction estimation antenna array；
According to preset cycle time, Kalman filtering is carried out to N number of signal strength sequence respectively, obtains N number of direction
Prediction signal intensity；
The prediction signal intensity in N number of direction into row vector is merged, obtains the true bearing of target object.
The beneficial effects of the present invention are：With reference to the empirical value (predicted value of system) of system and N number of direction object
The signal strength (measured value) of body, the optimum prediction value of each direction signal intensity is obtained by Kalman filtering algorithm, then is led to
Vector merging is crossed, azimuth where target object is obtained；The present invention can effectively avoid single-wheel signal using Kalman filtering algorithm
Contingency, improve bearing accuracy；Merge to substitute using vector and be maximized, can accurately judge target object place side
Position.
Description of the drawings
Fig. 1 is a kind of flow chart of coordinate detection method of the embodiment of the present invention one；
Fig. 2 is the resultant vector schematic diagram of the embodiment of the present invention two.
Specific embodiment
For the technology contents that the present invention will be described in detail, the objects and the effects, below in conjunction with embodiment and coordinate attached
Figure is explained in detail.
The design of most critical of the present invention is：The optimal pre- of each direction signal intensity is obtained by Kalman filtering algorithm
Measured value, then merged by vector, azimuth where target object is obtained.
Referring to Fig. 1, a kind of coordinate detection method, including：
Signal of the target object on N number of direction is obtained by direction estimation antenna array, obtains corresponding to N number of signal in N number of direction
Sequence of intensity, the N are the quantity of the sub-antenna of the direction estimation antenna array；
According to preset cycle time, Kalman filtering is carried out to N number of signal strength sequence respectively, obtains N number of direction
Prediction signal intensity；
The prediction signal intensity in N number of direction into row vector is merged, obtains the true bearing of target object.
As can be seen from the above description, the beneficial effects of the present invention are：Using Kalman filtering algorithm, single-wheel can be effectively avoided
The contingency of signal improves bearing accuracy；Merge to substitute using vector and be maximized, can accurately judge target object place
Orientation.
Further, it is in wait angles setting between each sub-antenna adjacent in the direction estimation antenna array.
Seen from the above description, the radio signal in omnidirection can uniformly be obtained.
Further, it is described " the prediction signal intensity in N number of direction into row vector to be merged, obtains target object
True bearing " is specially：
Using the center in N number of direction as origin, rectangular coordinate system is established；
Respectively by the X-axis and Y-axis of the prediction signal intensity projection in N number of direction to the rectangular coordinate system, institute is obtained
N number of direction is stated to project N number of the second of Y-axis in N number of first projection of X-axis and N number of direction；
According to the sum of described N number of first projection and the sum of N number of second projection, the practical side of target object is obtained
Position.
Seen from the above description, true bearing angle where target object is obtained in algorithm is merged by vector, improves target and survey
To precision.
The invention further relates to a kind of computer readable storage mediums, are stored thereon with computer program, and described program is located
Reason device realizes following steps when performing：
Signal of the target object on N number of direction is obtained by direction estimation antenna array, obtains corresponding to N number of signal in N number of direction
Sequence of intensity, the N are the quantity of the sub-antenna of the direction estimation antenna array；
According to preset cycle time, Kalman filtering is carried out to N number of signal strength sequence respectively, obtains N number of direction
Prediction signal intensity；
The prediction signal intensity in N number of direction into row vector is merged, obtains the true bearing of target object.
Further, it is in wait angles setting between each sub-antenna adjacent in the direction estimation antenna array.
Further, it is described " the prediction signal intensity in N number of direction into row vector to be merged, obtains target object
True bearing " is specially：
Using the center in N number of direction as origin, rectangular coordinate system is established；
Respectively by the X-axis and Y-axis of the prediction signal intensity projection in N number of direction to the rectangular coordinate system, institute is obtained
N number of direction is stated to project N number of the second of Y-axis in N number of first projection of X-axis and N number of direction；
According to the sum of described N number of first projection and the sum of N number of second projection, the practical side of target object is obtained
Position.
Embodiment one
Fig. 1 is please referred to, the embodiment of the present invention one is：A kind of coordinate detection method, the method are based on Kalman
(Kalman) it filters, can be applied to the positioning direction finding to unmanned plane, include the following steps：
S1：Signal of the target object on N number of direction is obtained by direction estimation antenna array, obtains corresponding to N number of letter in N number of direction
Number sequence of intensity, the N are the quantity of the sub-antenna of the direction estimation antenna array；Further, it is adjacent in the direction estimation antenna array
Each sub-antenna between in angles setting is waited, i.e., described direction estimation antenna array is the divided antennas such as N.
S2：According to preset cycle time, Kalman filtering is carried out to N number of signal strength sequence respectively, obtains N number of direction
Prediction signal intensity；Specific Kalman filtering algorithm is as follows：
Using the process model of system, predict the signal strength of subsequent time (assuming that current state according to the first formula
For k)；
First formula：X (k │ k-1)=A X (k-1 │ k-1)+B Uk
Wherein, X (k | k-1) is based on predict current state of laststate as a result, A is systematic parameter, the present embodiment
In, A=1 assumes that the signal strength at k moment is consistent with the signal strength at k-1 moment；X (k-1 | k-1) be laststate most
Excellent result；As k=1, X (0 | 0) arbitrary value is can use, because as time goes by, X values can restrain, in the present embodiment, X (0 | 0)
=-70；UkFor the controlled quentity controlled variable of state, 0 is taken in the present embodiment；
Covariance is updated according to the second formula；
Second formula：P (k │ k-1)=A P (k-1 │ k-1) A'+Q
Wherein, P (k | k-1) is the corresponding covariances of X (k | k-1), and P (k-1 | k-1) is the corresponding association sides of X (k-1 | k-1)
Difference；As k=1, and P (0 | 0) it can use the initial value being not zero；A ' represents the transposed matrix of A, and Q is the association side of systematic procedure noise
Difference；
There is the prediction result of current state, then regather the measured value of current state, with reference to predicted value and measured value,
The optimization estimated value X (k | k) of current state (k moment) can be obtained according to third formula；
Third formula：X (k │ k)=X (k │ k-1)+Kg (k) (Z (k)-H X (k │ k-1))
Wherein, Z (k) is observation；Kg (k) is kalman gain, is calculated according to the 4th formula；
4th formula：Kg (k)=P (k │ k-1) H'/(H P (k │ k-1) H'+R)
Wherein, H is the parameter of measuring system, in the present embodiment, H=1；R is the covariance of measurement noise；
Estimated value X optimal under k-state (k | k) is had been obtained at this time, in order to which Kalman filter to be enabled constantly is transported
Row goes down until systematic procedure terminates, and the covariance of X under k-state (k | k) is also updated according to the 5th formula；
5th formula：P (k │ k)=(1-Kg (k) H) P (k │ k-1)
When system enters k+1 states, P (k | k) is exactly the P (k-1 | k-1) in the second formula.In this way, algorithm
Autoregressive operation is gone down.
Kalman filtering can effectively filter out noise, predict more true signal strength in all directions.
S3：The prediction signal intensity in N number of direction into row vector is merged, obtains the true bearing of target object.
Specifically, using the center in N number of direction as origin, rectangular coordinate system is established；Preferably, with the side of some antenna
To the calculation amount that follow-up vector for X-axis just (negative) direction or Y-axis just (negative) direction, can be reduced merge.Respectively by N number of direction
Prediction signal intensity projection to the rectangular coordinate system X-axis and Y-axis, obtain N number of direction X-axis it is N number of first throw
Shadow and N number of direction are projected N number of the second of Y-axis；According to the sum of described N number of first projection and N number of second projection
The sum of, obtain the true bearing of target object.
For example, using the central point of direction estimation antenna array as origin, using No. 0 antenna in direction estimation antenna array as Y-axis positive direction, build
Rectangular coordinate system is found, then tan θ=x/y, wherein, θ is the true bearing of target object and the angle of No. 0 antenna, and x is N number of first
The sum of projection, y is the sum of N number of second projection, and as x ＜ 0 and y ＞ 0, θ need to add 360 °, as x ＜ 0 and y ＜ 0 or x ＞ 0 and
During y ＜ 0, θ need to add 180 °.
The empirical value (predicted value of system) of the present embodiment combination system and the signal strength of N number of direction target object
(measured value) is obtained the optimum prediction value of each direction signal intensity by Kalman filtering algorithm, then is merged by vector, is asked
Azimuth where going out target object；Using Kalman filtering algorithm, the contingency of single-wheel signal can be effectively avoided, it is accurate to improve orientation
True property；Merge to substitute using vector and be maximized, can accurately judge orientation where target object.
Embodiment two
The present embodiment is a concrete application scene of embodiment one.
In the present embodiment, direction estimation antenna array is eight equal parts antenna, it is assumed that No. 0 antenna is 0 ° of angle, is clockwise pros
To the direction of, i.e., eight antennas (No. 0 antenna to No. 7 antennas) be respectively 0 °, 45 °, 90 °, 135 °, 180 °, 225 °, 270 °,
315°.Radio signal is acquired, obtains time, respective antenna and the signal strength for finding target object signal.By one section
Time will obtain the signal strength sequence of target object on a certain eight directions of channel, as shown in table 1.
Table 1：
Wherein, ni>=0, n0、n1…n7The number of the corresponding signal strength sequence in eight directions is represented respectively；Work as niWhen=0,
Represent the signal of direction no target detected object.
(such as 2 seconds) at regular intervals carry out Kalman filtering to the signal strength sequence in eight directions respectively, are worked as
The prediction signal intensity in preceding eight directions of moment, it is assumed that be Sig0、Sig1、Sig2、Sig3、Sig4、Sig5、Sig6、Sig7。
As shown in Fig. 2, using the center of direction estimation antenna array as origin, using the direction of No. 0 antenna as Y-axis positive direction, with No. 2 days
The direction of line is X-axis positive direction, establishes rectangular coordinate system.
Respectively by the prediction signal intensity projection in eight directions to X-axis and Y-axis, eight directions are obtained according to the 6th formula
The sum of the projection of prediction signal intensity in X-axis obtains the prediction signal intensity in eight directions in Y-axis according to the 7th formula
The sum of projection；
6th formula：
7th formula：
The resultant vector of the prediction signal intensity in as eight directions；Finally calculated according to the 8th formula
Obtain the orientation of target object；
8th formula：
Further, since in the 8th formula, the value range of θ is (- 90 °, 90 °), in order to which make θ expressions is resultant vector
With the angle along clockwise direction of No. 0 antenna, therefore, work as resultant vectorIn the second quadrant of the rectangular coordinate system (
Sigx＜ 0, Sigy＞ 0), θ need to add 360 °；Work as resultant vectorIn third quadrant (the i.e. Sig of the rectangular coordinate systemx＜ 0,
Sigy＜ 0) or fourth quadrant (i.e. Sigx＞ 0, Sigy＜ 0) when, θ need to add 180 °.
Embodiment three
The present embodiment is a kind of computer readable storage medium of corresponding above-described embodiment, is stored thereon with computer journey
Sequence realizes following steps when described program is executed by processor：
Signal of the target object on N number of direction is obtained by direction estimation antenna array, obtains corresponding to N number of signal in N number of direction
Sequence of intensity, the N are the quantity of the sub-antenna of the direction estimation antenna array；
According to preset cycle time, Kalman filtering is carried out to N number of signal strength sequence respectively, obtains N number of direction
Prediction signal intensity；
The prediction signal intensity in N number of direction into row vector is merged, obtains the true bearing of target object.
Further, it is in wait angles setting between each sub-antenna adjacent in the direction estimation antenna array.
Further, it is described " the prediction signal intensity in N number of direction into row vector to be merged, obtains target object
True bearing " is specially：
Using the center in N number of direction as origin, rectangular coordinate system is established；
Respectively by the X-axis and Y-axis of the prediction signal intensity projection in N number of direction to the rectangular coordinate system, institute is obtained
N number of direction is stated to project N number of the second of Y-axis in N number of first projection of X-axis and N number of direction；
According to the sum of described N number of first projection and the sum of N number of second projection, the practical side of target object is obtained
Position.
In conclusion a kind of coordinate detection method provided by the invention and computer readable storage medium, with reference to system
The signal strength (measured value) of empirical value (predicted value of system) and N number of direction target object, passes through Kalman filtering algorithm
It obtains the optimum prediction value of each direction signal intensity, then is merged by vector, azimuth where target object is obtained；The present invention
Using Kalman filtering algorithm, the contingency of single-wheel signal can be effectively avoided, improves bearing accuracy；Merged using vector and substituted
It is maximized, can accurately judge orientation where target object.
The foregoing is merely the embodiment of the present invention, are not intended to limit the scope of the invention, every to utilize this hair
The equivalents that bright specification and accompanying drawing content are made directly or indirectly are used in relevant technical field, similarly include
In the scope of patent protection of the present invention.
Claims (6)
- A kind of 1. coordinate detection method, which is characterized in that including：Signal of the target object on N number of direction is obtained by direction estimation antenna array, obtains corresponding to N number of signal strength in N number of direction Sequence, the N are the quantity of the sub-antenna of the direction estimation antenna array；According to preset cycle time, Kalman filtering is carried out to N number of signal strength sequence respectively, obtains the prediction in N number of direction Signal strength；The prediction signal intensity in N number of direction into row vector is merged, obtains the true bearing of target object.
- 2. coordinate detection method according to claim 1, which is characterized in that adjacent each sub- day in the direction estimation antenna array It is in wait angles setting between line.
- 3. coordinate detection method according to claim 1, which is characterized in that described " to the prediction signal in N number of direction Intensity merges into row vector, obtains the true bearing of target object " be specially：Using the center in N number of direction as origin, rectangular coordinate system is established；Respectively by the X-axis and Y-axis of the prediction signal intensity projection in N number of direction to the rectangular coordinate system, obtain described N number of Direction is projected in N number of first projection of X-axis and N number of direction N number of the second of Y-axis；According to the sum of described N number of first projection and the sum of N number of second projection, the true bearing of target object is obtained.
- 4. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that described program is by processor Following steps are realized during execution：Signal of the target object on N number of direction is obtained by direction estimation antenna array, obtains corresponding to N number of signal strength in N number of direction Sequence, the N are the quantity of the sub-antenna of the direction estimation antenna array；According to preset cycle time, Kalman filtering is carried out to N number of signal strength sequence respectively, obtains the prediction in N number of direction Signal strength；The prediction signal intensity in N number of direction into row vector is merged, obtains the true bearing of target object.
- 5. computer readable storage medium according to claim 4, which is characterized in that adjacent in the direction estimation antenna array It is in wait angles setting between each sub-antenna.
- 6. computer readable storage medium according to claim 4, which is characterized in that described " to the pre- of N number of direction Survey signal strength into row vector to merge, obtain the true bearing of target object " be specially：Using the center in N number of direction as origin, rectangular coordinate system is established；Respectively by the X-axis and Y-axis of the prediction signal intensity projection in N number of direction to the rectangular coordinate system, obtain described N number of Direction is projected in N number of first projection of X-axis and N number of direction N number of the second of Y-axis；According to the sum of described N number of first projection and the sum of N number of second projection, the true bearing of target object is obtained.
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