CN108919211B - Positioning precision evaluation method oriented to three-station cooperative positioning - Google Patents

Positioning precision evaluation method oriented to three-station cooperative positioning Download PDF

Info

Publication number
CN108919211B
CN108919211B CN201810763471.6A CN201810763471A CN108919211B CN 108919211 B CN108919211 B CN 108919211B CN 201810763471 A CN201810763471 A CN 201810763471A CN 108919211 B CN108919211 B CN 108919211B
Authority
CN
China
Prior art keywords
observation
station
array
target
positioning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201810763471.6A
Other languages
Chinese (zh)
Other versions
CN108919211A (en
Inventor
陆翔
涂刚毅
籍林峰
夏厚培
陆广驰
葛福兰
孙梅
李俊
李强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
724th Research Institute of CSIC
Original Assignee
724th Research Institute of CSIC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 724th Research Institute of CSIC filed Critical 724th Research Institute of CSIC
Priority to CN201810763471.6A priority Critical patent/CN108919211B/en
Publication of CN108919211A publication Critical patent/CN108919211A/en
Application granted granted Critical
Publication of CN108919211B publication Critical patent/CN108919211B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention relates to a positioning precision evaluation method for three-station cooperative positioning. According to the known positioning precision evaluation method for evaluating the three-station cooperative positioning based on the measured data of the two-station cooperative positioning test, the reliability of the positioning precision evaluation method is low because the statistical property of the observation data of the third station generated by simulation is greatly different from the statistical property of the observation data in an actual scene. The method reduces the difference by designing a two-station co-location test scenario according to a three-station co-location scenario. The method comprises the following specific steps: designing a three-station cooperative positioning scene; designing a double-station cooperative positioning test; simulating and generating observation data of a third station and data related to the third station according to the data acquired by the double-station co-location test; performing three-station cooperative positioning; and carrying out positioning result evaluation. The method can effectively improve the reliability of the positioning precision evaluation method for evaluating the three-station cooperative positioning based on the measured data of the two-station cooperative positioning test.

Description

Positioning precision evaluation method oriented to three-station cooperative positioning
Technical Field
The invention relates to the field of radar co-location.
Background
And the evaluation of the cooperative positioning precision is the characteristic of an error vector formed by counting the cooperative positioning result and the real position of the target. The statistical characteristics of the positioning error are usually expressed by means of circular probability error (CEP), geometric precision distribution (GDOP), and the like.
Common station co-location methods include a two-station co-location method and a three-station co-location method. The double-station cooperative positioning method utilizes the arrival angle of a target radiation source signal and the mutual direction-finding and distance-measuring results of the double stations to obtain the position of a target relative to an observation station through cross positioning. The arrival angle of the target radiation source signal refers to a direction-finding angle obtained by the observation station by analyzing the intercepted target radiation source signal to carry out direction finding on the target radiation source; the mutual direction and distance measurement of the two stations means that the two stations adopt a microwave measurement mode to obtain the distance between the two stations and the direction between the two stations; cross-referencing refers to calculating the target location by triangulation.
The three-station cooperative positioning method improves the positioning accuracy of the remote radiation source target by adopting long baseline positioning. Under the condition that the communication power is limited, the distance between the sea surface microwave measurement and the sea surface communication has an upper limit, so that the mutual communication and the mutual direction and distance measurement between the stations can be realized only if the distance between the two stations is less than a certain distance. In order to increase the baseline distance, a three-station cooperative positioning method is adopted, and a newly-added intermediate station is used for data forwarding and mutual direction finding and distance measuring; the non-intermediate station carries out direction finding on the radiation source target; and the collected arrival angle of the target radiation source signal, the relative distance and the relative direction between the stations are subjected to cross positioning to obtain the position information of the radiation source target.
In order to evaluate the precision of the three-station cooperative positioning, the precision of the three-station cooperative positioning can be evaluated by obtaining the three-station cooperative positioning data by developing an actual measurement test method, but the method needs to call a large number of ships to invest a large number of personnel for cooperation guarantee, and the cost is high. The known positioning precision evaluation method for evaluating the three-station cooperative positioning based on the measured data of the two-station cooperative positioning test simulates the direction-finding data of a target by a third station and the mutual direction-finding and distance-measuring data of the third station and a second station by using the two-station cooperative positioning test data, so that the three-station cooperative positioning is carried out for evaluating the positioning precision of the three-station cooperative positioning. The two-station co-location test data comprises: the method comprises the following steps that direction-finding data of a first station to a target, direction-finding data of a second station to the target, and mutual direction-finding and distance-measuring data of the first station and the second station. The statistical characteristic of the direction-finding data of the third station to the target is consistent with the statistical characteristic of the direction-finding data of the first station to the target or the statistical characteristic of the direction-finding data of the second station to the target. And the statistical characteristics of the mutual direction-finding and distance-measuring data of the third station and the second station are consistent with the statistical characteristics of the mutual direction-finding and distance-measuring data of the first station and the second station. However, in the known positioning accuracy evaluation method for evaluating the three-station cooperative positioning based on the measured data of the two-station cooperative positioning test, the parameters such as the relative position, the relative movement speed direction and the like between the third station and the target and between the third station and the second station generated by simulation are different from the parameters such as the relative position, the relative movement speed and the relative movement speed direction and the like between the second station and the target and between the second station and the first station. Therefore, the statistical property of the observation data of the third station generated by simulation is different from the actually measured data, which results in low reliability of the known positioning accuracy evaluation method for evaluating the three-station cooperative positioning based on the actually measured data of the two-station cooperative positioning test.
Disclosure of Invention
The invention aims to solve the problem that the scene lacks equivalent design support in the evaluation of the three-station cooperative positioning precision by using the two-station cooperative positioning data and reduce the cost for evaluating the three-station cooperative positioning precision. Firstly, a two-station positioning test scene and a three-station positioning simulation test scene are designed in a combined mode, so that the generated simulation observation data are consistent with the statistical characteristics of the actually measured data, then error extraction and splicing are carried out, radiation source observation data of a third station meeting the statistical characteristics of the actually measured data and mutual direction-finding distance-measuring data of the third station are generated, then the data are sent to a three-station cooperative positioning system to be evaluated, three-station cooperative positioning is carried out, a positioning result is obtained, and finally precision evaluation is carried out on the positioning result. The invention provides a positioning precision evaluation method for three-station cooperative positioning.
In order to achieve the purpose of the present invention, a positioning accuracy evaluation method for three-station cooperative positioning includes the following steps, and the implementation process and software flow are shown in fig. 1:
step 1, designing a three-station cooperative positioning scene: the two-station positioning test observation station is represented by S1 and S2, the generated third station is represented by S3, and the target station is represented byTarg. The true distance between S1 and S2 is denoted as L1The true distance between S1 and the target is denoted as R1, and the true distance between S2 and the target is denoted as R2. The motion direction of S3 is set to be vertical to the direction of the connecting line S3-Targ, and the module value of the velocity vector of S3 is set to be the same as that of the velocity vector of S1 relative to S2. Set the true distance array of S3 and S2 as [ L2]]Setting [ L ]2]＝[L1]. S2 true angle of S3 is [ alpha ]2]Setting:
Figure BDA0001728444020000021
setting the real distance between S3 and the target to be R3 ═ R2; s3 the real direction-finding value array of the observation target is marked as [ omega ]3]Setting:
Figure BDA0001728444020000022
step 2, designing a two-station cooperative positioning test: s2 moves along the direction perpendicular to the connecting line S2-Targ, and the moving direction of S1 is not limited. Experimentally recording observations, including: s1 observation angle array for observing target
Figure BDA0001728444020000023
S2 observation angle array for observing target
Figure BDA0001728444020000024
S1 observation angle array for observing S2
Figure BDA0001728444020000025
S1 Observation S2 observation distance array
Figure BDA0001728444020000026
Tests recorded true values, including: s1 true angle array of observation target
Figure BDA0001728444020000027
S2 true angle array of observation target
Figure BDA0001728444020000028
Obtain the true angle array [ alpha ] of S1 observation S21]S1 observing the true distance array [ L ] of S21]。
Step 3, generating observation data of a third station and data related to the third station according to the data simulation acquired by the double-station cooperative positioning test: observation angle array for observing S2 according to S1
Figure BDA0001728444020000031
S1 Observation of the true Angle array [ alpha ] of S21]Error in extraction
Figure BDA0001728444020000032
To [ epsilon ]1]Cyclically shifted and superimposed to [ alpha ]2]Generating an angle observation value array of S2 observation S3
Figure BDA0001728444020000033
Observing the observation distance array of S2 according to S1
Figure BDA0001728444020000034
S1 Observation of the true distance array [ L ] of S21]Error in extraction
Figure BDA0001728444020000035
To [ epsilon ]2]Cyclically shifted and superimposed to [ L2]Generating an angle observation value array of S2 observation S3
Figure BDA0001728444020000036
Observation angle array for observing target according to S1
Figure BDA0001728444020000037
Or S2 observation angle array for observing target
Figure BDA0001728444020000038
S1 true angle array [ omega ] of observation target1]Or S2 true angle array [ omega ] of observation target2]According to
Figure BDA0001728444020000039
Or
Figure BDA00017284440200000310
Extraction error [ epsilon ]3]To [ epsilon ]3]Cyclically shifted and superimposed to [ omega ]3]Generating S3 observation value array for target
Figure BDA00017284440200000311
And step 4, executing three-station cooperative positioning: observation angle array for observing S2 according to S1
Figure BDA00017284440200000312
S1 Observation S2 observation distance array
Figure BDA00017284440200000313
S1 observation angle array for observing target
Figure BDA00017284440200000314
S2 Observation S3 angle observation value array
Figure BDA00017284440200000315
S2 Observation S3 angle observation value array
Figure BDA00017284440200000316
S3 observation value array for target
Figure BDA00017284440200000317
Three-station positioning is performed on the target.
And 5, evaluating the positioning result.
The invention has the beneficial effects that: by adopting the method, the double-station cooperative positioning scene is designed according to the three-station cooperative positioning scene, and the statistical properties of the data observed by the third station to the radiation source and the mutual direction-finding and distance-measuring data of the third station and the intermediate station generated by simulation are consistent with the statistical properties of the data observed by the third station to the radiation source and the mutual direction-finding and distance-measuring data of the third station and the intermediate station obtained by the three-station cooperative positioning under the real condition, so that the evaluation of the precision of the three-station cooperative positioning based on the actual measured data of the double-station cooperative positioning can be realized.
Drawings
Fig. 1 is a flowchart of a positioning accuracy evaluation method for three-station cooperative positioning.
Fig. 2 is a schematic view of a two-station co-location test scenario.
Fig. 3 is a schematic diagram of a three-station coordination scenario.
FIG. 4 is a flow chart of an embodiment of the present invention.
Detailed Description
The implementation process and the software flow are shown in fig. 3 and described as the following processes. Wherein the two-station positioning trial observatory is denoted by S1, S2, the resulting third station is denoted by S3, and the target station is denoted by Targ.
Step 1, constructing a three-station scene: s3 is configured to be adjacent to S2, and the top view passes through S3-S2-S1 in a clockwise direction. The truth distance array of S1 and S2 is set to [ L1](ii) a The truth distance array of S3 and S2 is set to [ L2]Wherein L is2＝L1(ii) a Setting the real angle array of the observed target S2 as [ omega ]2](ii) a The distance from the target of S2 is set to be R2; the truth value array of the angle of S3 observed by S2 is marked as alpha2]Is provided with
Figure BDA0001728444020000041
S3 direction-finding truth value array of observation target station is marked as [ omega ]3]Is provided with
Figure BDA0001728444020000042
Step 2, carrying out a two-station positioning test: and (4) equipping a truth value recording device to carry out a two-station positioning test. The two-station positioning test observation station is represented by S1 and S2, and the top view sequentially passes through S2-S1 in the clockwise direction; the destination is denoted Targ. S2 moves along the direction perpendicular to the connecting line S2-Targ, and the moving direction of S1 is not limited. The target adopts a circular scanning working mode.
Step 3, recording the double-station positioning testData: recording experimental observation data, and obtaining an observation angle array of S1 observation S2
Figure BDA0001728444020000043
S1 Observation S2 observation distance array
Figure BDA0001728444020000044
S1 observation angle array for observing target
Figure BDA0001728444020000045
S2 observation angle array for observing target
Figure BDA0001728444020000046
Recording experiment truth value, obtaining a true angle array [ alpha ] of S1 observation S21]S1 observing the true distance array [ L ] of S21]S1 true angle array [ omega ] of observation target1]S2 true angle array [ omega ] of observation target2]。
And 4, extracting errors: extracting a mutual direction error array of S1 observation S2
Figure BDA0001728444020000047
Extracting mutual range error array of S1 observation S2
Figure BDA0001728444020000048
Extracting S2 observation Targ direction error array
Figure BDA0001728444020000049
And 5, generating an observed value of the target S3: [ epsilon ]3]The number of elements in the array is m, [ epsilon ]3]Cyclically shift m-1 bits to obtain a new array record of [ epsilon ]4]. Generating S3 observation array for target
Figure BDA00017284440200000410
And 6, generating an angle observation value of S2 observation S3: [ epsilon ]1]The number of elements in the array is n, [ epsilon ]1]Cyclically shift n-1 bits to obtainGet a new array record as [ epsilon ]5]. Generating an array of angular observations of S2 Observation S3
Figure BDA00017284440200000411
Step 7, generating a distance observation value of S2 observation S3: [ epsilon ]2]The number of elements in the array is o, [ epsilon ]2]Cyclically shift o-1 bits to obtain a new array record of [ epsilon [ ]6]. Generating an array of angular observations of S2 Observation S3
Figure BDA00017284440200000412
And 8, executing three-station positioning: observation angle array for observing S2 according to S1
Figure BDA00017284440200000413
S1 Observation S2 observation distance array
Figure BDA00017284440200000414
S1 observation angle array for observing target
Figure BDA00017284440200000418
S2 Observation S3 angle observation value array
Figure BDA00017284440200000415
S2 Observation S3 angle observation value array
Figure BDA00017284440200000416
S3 observation value array for target
Figure BDA00017284440200000417
Three-station positioning is performed on the target.
(in the step, where the form [ X ] ═ Y ] ± [ Z ] denotes an array Y addition/subtraction array Z one by one, obtaining an array X.)
Step 9, counting the positioning error: observing the true angle array [ beta ] of the target according to S11]S2 true angle array [ beta ] of observation target2]Construct a target truth vector array [ Rst0]Calculating [ 2 ]Rst0]And [ Rst3]The modulus of each element vector difference forms a positioning error sequence [ ER]The recording sequence length is m. If m is odd, let CEP ═ ER](m + 1)/2; if m is an even number, let CEP ═ ER]m/2。

Claims (1)

1. A positioning accuracy evaluation method facing three-station cooperative positioning is characterized by comprising the following steps:
step 1: designing a three-station cooperative positioning scene: the two-station positioning test observation stations are represented by S1 and S2, the generated third station is represented by S3, and the target station is represented by Targ; the true distance between S1 and S2 is denoted as L1And the real distance between S1 and the target is denoted as R1And the real distance between S2 and the target is denoted as R2(ii) a Setting the motion direction of S3 to be vertical to the direction of the connecting line of S3-Targ, and setting the module value of the velocity vector of S3 to be the same as the module value of the velocity vector of S1 relative to S2; the true distance array of S3 and S2 is denoted as [ L2]Setting [ L ]2]＝[L1](ii) a The true angle of S3 observed by S2 is recorded as [ alpha ]2]Setting:
Figure FDA0003431117590000011
the true distance from S3 to the target is denoted as R3Setting R3＝R2(ii) a S3 the real direction-finding value array of the observation target is marked as [ omega ]3]Setting:
Figure FDA0003431117590000012
step 2: designing a two-station co-location test: s2 moves along the direction vertical to the connecting line S2-Targ, and the moving direction of S1 is not limited; recording experimental observations, including: s1 observation angle array for observing target
Figure FDA0003431117590000013
S2 observation angle array for observing target
Figure FDA0003431117590000014
S1 observation angle array for observing S2
Figure FDA0003431117590000015
S1 Observation S2 observation distance array
Figure FDA0003431117590000016
Record experimental truth including: s1 true angle array [ omega ] of observation target1]S2 true angle array [ omega ] of observation target2]Obtaining a true angle array [ alpha ] of S1 observation S21]S1 observing the true distance array [ L ] of S21]；
And step 3: and generating observation data of a third station and data related to the third station according to the data simulation acquired by the double-station co-location test: observation angle array for observing S2 according to S1
Figure FDA0003431117590000017
S1 Observation of the true Angle array [ alpha ] of S21]Error in extraction
Figure FDA0003431117590000018
To [ epsilon ]1]Cyclically shifted and superimposed to [ alpha ]2]Generating an angle observation value array of S2 observation S3
Figure FDA0003431117590000019
Observing the observation distance array of S2 according to S1
Figure FDA00034311175900000110
S1 Observation of the true distance array [ L ] of S21]Error in extraction
Figure FDA00034311175900000111
To [ epsilon ]2]Cyclically shifted and superimposed to [ L2]Generating a distance observation value array of S2 observation S3
Figure FDA00034311175900000112
Observation angle array for observing target according to S1
Figure FDA00034311175900000113
Or S2 observation angle array for observing target
Figure FDA00034311175900000114
S1 true angle array [ omega ] of observation target1]Or S2 true angle array [ omega ] of observation target2]According to
Figure FDA00034311175900000115
Or
Figure FDA00034311175900000116
Extraction error [ epsilon ]3]To [ epsilon ]3]Cyclically shifted and superimposed to [ omega ]3]Generating S3 observation value array for target
Figure FDA00034311175900000117
And 4, step 4: performing three-station co-location: observation angle array for observing S2 according to S1
Figure FDA0003431117590000021
S1 Observation S2 observation distance array
Figure FDA0003431117590000022
S1 observation angle array for observing target
Figure FDA0003431117590000023
S2 Observation S3 angle observation value array
Figure FDA0003431117590000024
S2 Observation S3 angle observation value array
Figure FDA0003431117590000025
S3 observation value array for target
Figure FDA0003431117590000026
Performing three-station positioning on the target;
and 5: and carrying out positioning result evaluation.
CN201810763471.6A 2018-07-12 2018-07-12 Positioning precision evaluation method oriented to three-station cooperative positioning Active CN108919211B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810763471.6A CN108919211B (en) 2018-07-12 2018-07-12 Positioning precision evaluation method oriented to three-station cooperative positioning

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810763471.6A CN108919211B (en) 2018-07-12 2018-07-12 Positioning precision evaluation method oriented to three-station cooperative positioning

Publications (2)

Publication Number Publication Date
CN108919211A CN108919211A (en) 2018-11-30
CN108919211B true CN108919211B (en) 2022-03-11

Family

ID=64410955

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810763471.6A Active CN108919211B (en) 2018-07-12 2018-07-12 Positioning precision evaluation method oriented to three-station cooperative positioning

Country Status (1)

Country Link
CN (1) CN108919211B (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102508197A (en) * 2011-09-29 2012-06-20 哈尔滨工程大学 Passive target positioning method based on channel capacity
CN104076348A (en) * 2014-07-09 2014-10-01 中国船舶重工集团公司第七二四研究所 Radar beyond visual range base line passive cooperative localization method
CN104316903A (en) * 2014-08-01 2015-01-28 中国人民解放军63891部队 Three-station time-difference positioning performance test evaluation method
CN104809754A (en) * 2014-01-23 2015-07-29 中冶建筑研究总院有限公司 Space synchronous positioning and information recording system based on three-dimensional real scene model
CN105424044A (en) * 2015-11-05 2016-03-23 中国船舶重工集团公司第七二四研究所 Double-station intersection passive location station base combination prioritizing method
CN105635963A (en) * 2015-12-25 2016-06-01 中国空间技术研究院 Multi-agent distributed cooperative location method
CN106932759A (en) * 2017-01-17 2017-07-07 电子科技大学 A kind of co-located method for active radar and passive radar
CN108061877A (en) * 2017-12-14 2018-05-22 电子科技大学 A kind of passive track-corelation direction cross positioning method based on angle information
CN108089148A (en) * 2017-12-14 2018-05-29 电子科技大学 A kind of passive track-corelation direction cross positioning method based on time difference information

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102508197A (en) * 2011-09-29 2012-06-20 哈尔滨工程大学 Passive target positioning method based on channel capacity
CN104809754A (en) * 2014-01-23 2015-07-29 中冶建筑研究总院有限公司 Space synchronous positioning and information recording system based on three-dimensional real scene model
CN104076348A (en) * 2014-07-09 2014-10-01 中国船舶重工集团公司第七二四研究所 Radar beyond visual range base line passive cooperative localization method
CN104316903A (en) * 2014-08-01 2015-01-28 中国人民解放军63891部队 Three-station time-difference positioning performance test evaluation method
CN105424044A (en) * 2015-11-05 2016-03-23 中国船舶重工集团公司第七二四研究所 Double-station intersection passive location station base combination prioritizing method
CN105635963A (en) * 2015-12-25 2016-06-01 中国空间技术研究院 Multi-agent distributed cooperative location method
CN106932759A (en) * 2017-01-17 2017-07-07 电子科技大学 A kind of co-located method for active radar and passive radar
CN108061877A (en) * 2017-12-14 2018-05-22 电子科技大学 A kind of passive track-corelation direction cross positioning method based on angle information
CN108089148A (en) * 2017-12-14 2018-05-29 电子科技大学 A kind of passive track-corelation direction cross positioning method based on time difference information

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
Indoor collaborative localization method based on ultra-wideband ranging;Haofan Cai et al.;《2015 9th European Conference on Antennas and Propagation (EuCAP)》;20150831;全文 *
一种面向多点定位的协同定位算法;沈家庆 等;《现代计算机》;20180430;全文 *

Also Published As

Publication number Publication date
CN108919211A (en) 2018-11-30

Similar Documents

Publication Publication Date Title
US8369184B2 (en) Systems and methods with improved three-dimensional source location processing including constraint of location solutions to a two-dimensional plane
CN106646450B (en) Radar track robust correlating method based on distance substep cluster
KR101767924B1 (en) Method and system for detecting location of multi-target
CN107229033B (en) Multi-target arrival time difference positioning method based on height dimension segmented search
CN108761387B (en) Double-station time difference and frequency difference combined positioning method for fixed radiation source
CN111999735B (en) Dynamic and static target separation method based on radial speed and target tracking
CN103376447A (en) Method for achieving three-dimension positioning of non-cooperative double multistatic radar target
CN103592650A (en) Three-dimensional sonar imaging system based on graph processor and three-dimensional image method thereof
CN110738275A (en) UT-PHD-based multi-sensor sequential fusion tracking method
CN110208782A (en) A kind of radar fix method, apparatus, system, computer equipment and storage medium
CN110471029B (en) Single-station passive positioning method and device based on extended Kalman filtering
CN112986907A (en) Moving target positioning method under clock deviation and clock drift conditions
CN113391267A (en) Frequency spectrum detection system positioning method based on ATDOA algorithm
CN108919211B (en) Positioning precision evaluation method oriented to three-station cooperative positioning
Kim et al. Sound localization framework for construction site monitoring
CN112130166A (en) AGV positioning method and device based on reflector network
CN108828509B (en) Multi-platform multi-radiation source bearing relation judgment method
CN112596047B (en) Underwater track tracking self-checking system and method for track dynamic cooperative beacon simulation
CN115049784A (en) Three-dimensional velocity field reconstruction method based on binocular particle image
CN112986913A (en) Underwater target positioning method based on differential Doppler and arrival time delay difference
RU2681519C1 (en) Method for determining trajectories of movement of objects in radiometric vision system
CN116593966B (en) Real-time accurate acoustic wave positioning method for long-distance water conveyance tunnel
CN117310772B (en) Electromagnetic target positioning method based on map information visual distance or non-visual distance detection
CN111273228B (en) Multi-coherent source positioning method based on traversal search strategy
CN113390406B (en) Multi-target data association and positioning method based on passive multi-sensor system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant