CN108919211A - A kind of positioning accuracy appraisal procedure towards three station co-locateds - Google Patents
A kind of positioning accuracy appraisal procedure towards three station co-locateds Download PDFInfo
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- CN108919211A CN108919211A CN201810763471.6A CN201810763471A CN108919211A CN 108919211 A CN108919211 A CN 108919211A CN 201810763471 A CN201810763471 A CN 201810763471A CN 108919211 A CN108919211 A CN 108919211A
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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
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Abstract
The present invention relates to a kind of positioning accuracy appraisal procedures towards three station co-locateds.For it is well known based on double station coordinated location test measured data assess three station co-locateds positioning accuracy appraisal procedure due to simulation generate third station observation data statistical property and actual scene under observation data statistical property there are larger differences so that the confidence level of the positioning accuracy appraisal procedure is not high.This method is by testing scene according to three station co-located Scenario Design double station coordinated locations to reduce the difference.Specific steps include：Design three station co-located scenes；Design double station coordinated location test；The observation data and data relevant to third station at third station are generated according to the data simulation of the double station coordinated location test acquisition；Execute three station co-locateds；Carry out positioning result assessment.The present invention can effectively promote the confidence level that the measured data based on double station coordinated location test assesses the positioning accuracy appraisal procedure of three station co-locateds.
Description
Technical field
The present invention relates to radar co-located fields.
Background technique
Co-located accuracy evaluation is the spy for counting the error vector that co-located result is constituted with target actual position
Property.The statistical property of position error is usually stated with modes such as circular proable error (CEP), geometric accuracy distributions (GDOP).
Common station co-located method includes double station coordinated location method and three station co-located methods.Double station cooperative is fixed
Position method utilizes the mutual direction finding distance measurement result of angle of arrival, dual station of target emanation source signal, by cross bearing, obtains target
Position relative to observation station.The angle of arrival of target emanation source signal refers to the target radiation source that observation station is intercepted and captured by analysis
Signal carries out the direction finding angle of direction finding acquisition to target radiation source；The mutual direction finding ranging of dual station refers to the side that dual station uses microwave to measure
Formula obtains orientation of the distance between the dual station between dual station；Cross bearing refers to through trigonometric calculations target position.
Three station co-located methods promote the positioning accuracy to remote radiant source target by using Long baselines positioning.It is logical
Believe that there are the upper limits with sea communication distance for the measurement of sea microwave under power limited situation, therefore dual station spacing is necessarily less than a spacing
From the intercommunication and mutual direction finding ranging for being just able to achieve website.To promote parallax range, using three station co-located methods,
Newly-increased intermediate station is for data forwarding and mutual direction finding ranging；Non- intermediate station carries out direction finding to radiant source target；Mesh after summarizing
It marks relative distance and relative bearing between the angle of arrival and station and station of emitter Signals and carries out cross bearing acquisition radiation source
The location information of target.
For the precision for assessing three station co-located, three station co-locateds can be obtained by carrying out the method for measured test
The precision of three station co-located of data assessment, but this method needs that a large amount of ships is called to put into a large amount of personnel and cooperates guarantee, at
This is higher.The well known measured data based on double station coordinated location test assesses the positioning accuracy assessment side of three station co-locateds
Method simulates third station to the mutual of the direction finding data of target and third station and second station using double station coordinated location test data
Direction finding ranging data, so that three station co-locateds are carried out, to assess the positioning accuracy of three station co-locateds.The dual station association
Include with location test data：Direction finding data of the first stop to the direction finding data, second station of target to target, first stop and second
The mutual direction finding ranging data stood.Survey of the third station to the statistical property and first stop of the direction finding data of target to target
Statistical property or second station to data is consistent to the statistical property of the direction finding data of target.The third station and second station
The statistical property of mutual direction finding ranging data is consistent with the statistical property of mutual direction finding ranging data of second station with first stop.So
And the well known measured data based on double station coordinated location test assesses the positioning accuracy appraisal procedure of three station co-locateds, mould
The quasi- third station generated and target and third station and the relative position of second station, speed of related movement size, speed of related movement
The parameters such as direction, relative position, speed of related movement size, relative motion with second station and target and second station and first stop
The parameters such as directional velocity are different.Therefore, it is poor that the statistical property and measured data for simulating the observation data at the third station of generation exist
It is different, cause the well known measured data based on double station coordinated location test to assess the positioning accuracy appraisal procedure of three station co-locateds
Confidence level it is not high.
Summary of the invention
The purpose of the invention is to overcome to utilize existing for three station co-located precision of double station coordinated location data assessment
The cost that scene lacks the problem of support of equivalence design, reduces by three station co-located precision of assessment.The present invention passes through first
Co-design bistatic location test scene with three stand firm bit emulator test scene make generate simulation observation data and actual measurement number
According to statistical property it is consistent, secondly carry out error extract with splicing generate meet actual-structure measurement characteristic third station radiation
Data and the mutual direction finding ranging data about third station are observed in source, give the data to three stations to be assessed later and assist
Three station co-locateds are executed with positioning system and obtain positioning result, and accuracy evaluation finally is carried out to the positioning result.This hair
It is bright to give a kind of positioning accuracy appraisal procedure towards three station co-locateds.
In order to achieve the object of the present invention, a kind of positioning accuracy appraisal procedure towards three station co-locateds, including it is following
Step, implementation process and software flow are as shown in Figure 1：
Step 1 designs three station co-located scenes：Bistatic location test observation station indicates with S1, S2, the third station of generation
It is indicated with S3, Target Station is indicated with Targ.Actual distance between S1 and S2 is denoted as L1, between S1 and target actual distance note
For R1, the actual distance between S2 and target is denoted as R2.The S3 direction of motion is set perpendicular to S3-Targ line direction, sets S3
Velocity vector modulus value is identical with respect to the modulus value of velocity vector of S2 movement as S1.The actual distance array of setting S3 and S2 is denoted as
[L2]], set [L2]=[L1].The real angle that S2 observes S3 is [α2], setting：
The actual distance of S3 and target is set as R3=R2；The true direction finding value array of S3 observed object is denoted as [ω3], if
It is fixed：
Step 2 designs double station coordinated location test：S2 perpendicular to S2-Targ line direction along moving, and the S1 direction of motion is not
It is limited.Test data sheet observation, including：The observation angle array of S1 observed objectThe view angle degree of S2 observed object
GroupThe observation angle array of S1 observation S2The observed range array of S1 observation S2Test data sheet true value, packet
It includes：The real angle array of S1 observed objectThe real angle array of S2 observed objectObtain the true of S1 observation S2
Solid horn degree group [α1], S1 observation S2 actual distance array [L1]。
Step 3 according to the data simulation of the described double station coordinated location test acquisition generate third station observation data and with
The relevant data in third station：Base observes the observation angle array of S2 according to S1Real angle array [the α of S1 observation S21],
Extract errorTo [ε1] cyclic shift and it is superimposed to [α2], generate the angular observation number of S2 observation S3
GroupThe observed range array of S2 is observed according to S1Actual distance array [the L of S1 observation S21], extract errorTo [ε2] cyclic shift and it is superimposed to [L2], generate the angular observation array of S2 observation S3Root
According to the observation angle array of S1 observed objectOr the observation angle array of S2 observed objectS1 observed object it is true
Solid horn degree group [ω1] or S2 observed object real angle array [ω2], according toOrExtract error [ε3], to [ε3] cyclic shift and it is superimposed to [ω3], S3 is generated to the observation of target
Array
Step 4 executes three station co-locateds：The observation angle array of S2 is observed according to S1S1 observe S2 observation away from
From arrayThe observation angle array of S1 observed objectThe angular observation array of S2 observation S3S2 observes S3
Angular observation arrayObservation array of the S3 to targetThree are executed to target to stand firm position.
Step 5 carries out positioning result assessment.
Beneficial effects of the present invention：Due to using method of the present invention, by being set according to three station co-located scenes
Double station coordinated location scene is counted, the mutual of data and third station that radiation source is observed at the third station of generation and intermediate station is emulated
The data that radiation source is observed at the third station that the statistical property of direction finding ranging data and three station co-located of truth obtain with
And third station is consistent with the statistical property of mutual direction finding ranging data of intermediate station, is based on double station coordinated location so as to realize
Measured data executes three station co-located accuracy evaluations.
Detailed description of the invention
Fig. 1 is a kind of positioning accuracy appraisal procedure flow chart towards three station co-locateds.
Fig. 2 is that double station coordinated location tests schematic diagram of a scenario.
Fig. 3 is that schematic diagram of a scenario is assisted at three stations.
Fig. 4 is specific embodiment of the invention flow chart.
Specific embodiment
Implementation process and software flow are as shown in figure 3, be specifically described as following procedure.Wherein bistatic location test observation station
It is indicated with S1, S2, the third station of generation indicates that Target Station is indicated with Targ with S3.
Step 1:Construct three yard scapes：S3 is configured in close to the position of S2, and top view successively passes through S3- clockwise
S2-S1.The true value of S1 and S2 is set as [L apart from array1]；The true value of S3 and S2 is set as [L apart from array2], wherein L2=
L1；The real angle array of S2 observed object is set as [ω2]；S2 is set as R2 at a distance from target；The angle that S2 observes S3 is true
Value array is denoted as [α2], settingThe direction finding true value array at S3 observed object station is remembered
For [ω3], setting
Step 2:Carry out bistatic location test：It is equipped with true value recording equipment and carries out bistatic location test.Bistatic location test
Observation station indicates that top view successively passes through S2-S1 clockwise with S1, S2；Target Station is indicated with Targ.S2 along perpendicular to
The movement of S2-Targ line direction, the S1 direction of motion are unrestricted.Target sweeps working method using ring.
Step 3:Record bistatic location test data：Test observation data are recorded, the view angle degree of S1 observation S2 is obtained
GroupThe observed range array of S1 observation S2The observation angle array of S1 observed objectThe sight of S2 observed object
Measuring angle arrayRecord test true value, obtains the real angle array [α of S1 observation S21], S1 observation S2 actual distance
Array [L1], the real angle array [ω of S1 observed object1], the real angle array [ω of S2 observed object2]。
Step 4:Extract error：Extract the mutual angle measurement error array of S1 observation S2Extract S1
Observe the mutual distance measurement error array of S2Extract the angle measurement error array of S2 observation Targ
Step 5:S3 is generated to the observation of target：[ε3] element number is m, [ε in array3] cyclic shift m-1, it obtains
It obtains new array and is recorded as [ε4].S3 is generated to the observation array of target
Step 6:Generate the angular observation of S2 observation S3：[ε1] element number is n, [ε in array1] cyclic shift n-1
Position, obtains new array and is recorded as [ε5].Generate the angular observation array of S2 observation S3
Step 7:Generate S2 observation S3 apart from observation：[ε2] element number is o, [ε in array2] cyclic shift o-1
Position, obtains new array and is recorded as [ε6].Generate the angular observation array of S2 observation S3
Step 8:Three are executed to stand firm position：The observation angle array of S2 is observed according to S1The observed range number of S1 observation S2
GroupThe observation angle array of S1 observed objectThe angular observation array of S2 observation S3The angle of S2 observation S3
Spend observation arrayObservation array of the S3 to targetThree are executed to target to stand firm position.
(in step, wherein indicating array Y addition/subtrahend group Z item by item shaped like [X]=[Y] ± [Z], obtain array X.)
Step 9:Count position error：According to the real angle array [β of S1 observed object1], S2 observed object it is true
Angle array [β2] construction target true value vector array [Rst0], calculate [Rst0] and [Rst3] each element vector difference modulus value, shape
At position error sequence [ER], records series length is m.If m is odd number, remember CEP=[ER] (m+1)/2；If m is even number, note
CEP=[ER] m/2.
Claims (1)
1. a kind of positioning accuracy appraisal procedure towards three station co-locateds, it is characterised in that include the following steps：
Step 1：Design three station co-located scenes：Bistatic location test observation station indicates with S1, S2, the third station S3 of generation
It indicates, Target Station is indicated with Targ；Actual distance between S1 and S2 is denoted as L1, the actual distance between S1 and target is denoted as
Actual distance between R1, S2 and target is denoted as R2；The S3 direction of motion is set perpendicular to S3-Targ line direction, sets S3 speed
It is identical with respect to the modulus value of velocity vector of S2 movement as S1 for spending vector modulus value；The actual distance array of S3 and S2 is denoted as [L2],
Set [L2]=[L1]；The real angle of S2 observation S3 is denoted as [α2], setting：
S3 and the actual distance of target are denoted as R3, set R3=R2；The true direction finding value array of S3 observed object is denoted as [ω3], if
It is fixed：
Step 2：Design double station coordinated location test：S2 along being moved perpendicular to S2-Targ line direction, the S1 direction of motion not by
Limit；Experimental observation is recorded, including：The observation angle array of S1 observed objectThe observation angle array of S2 observed objectThe observation angle array of S1 observation S2The observed range array of S1 observation S2Record test true value, including：S1
Real angle array [the ω of observed object1], the real angle array [ω of S2 observed object2], obtain S1 observation S2 true angle
Degree group [α1], S1 observation S2 actual distance array [L1]；
Step 3：The observation data at third station are generated according to the data simulation of the described double station coordinated location test acquisition and with the
The relevant data in three stations：The observation angle array of S2 is observed according to S1Real angle array [the α of S1 observation S21], it extracts
ErrorTo [ε1] cyclic shift and it is superimposed to [α2], generate the angular observation array of S2 observation S3The observed range array of S2 is observed according to S1Actual distance array [the L of S1 observation S21], extract errorTo [ε2] cyclic shift and it is superimposed to [L2], generate the angular observation array of S2 observation S3Root
According to the observation angle array of S1 observed objectOr the observation angle array of S2 observed objectS1 observed object it is true
Solid horn degree group [ω1] or S2 observed object real angle array [ω2], according toOrExtract error [ε3], to [ε3] cyclic shift and it is superimposed to [ω3], S3 is generated to the observation of target
Array
Step 4：Execute three station co-locateds：The observation angle array of S2 is observed according to S1The observed range number of S1 observation S2
GroupThe observation angle array of S1 observed objectThe angular observation array of S2 observation S3The angle of S2 observation S3
Spend observation arrayObservation array of the S3 to targetThree are executed to target to stand firm position；
Step 5：Carry out positioning result assessment.
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