CN108957503B - Positioning and false target identification method based on ADS-B message pulse counting - Google Patents
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Abstract
The invention discloses a positioning and false target identification method based on ADS-B message pulse counting, which estimates the pulse counting deviation of receiving reference aircraft ADS-B between all the interception base stations by receiving ADS-B message pulse signals transmitted by aircrafts with S-mode answering machines and the counting of leading pulses thereof through different interception base stations; and then aiming at ADS-B signals or secondary radar response signals transmitted by other aircrafts with unknown positioning information and received by the plurality of intercept base stations, a range estimation method of a containing space is adopted to effectively verify the false target. The invention can realize an MDS system based on ADS-B, does not need to synchronize time among all the reconnaissance base stations, reduces the time synchronization cost of a multipoint positioning system, effectively makes up the defects of secondary radar and ADS-B positioning, eliminates false target information and ensures civil aviation flight safety.
Description
Technical Field
The invention relates to a positioning and false target identification method based on ADS-B message pulse counting.
Background
With the rapid development of the civil aviation industry, the number of aircrafts is remarkably increased, and the ADS-B technology is developed to better guarantee the safety of flight, so that the defects of secondary radar are made up to a certain extent. However, because of technical limitations, ADS-B is not loaded on all aircraft, and ICAO is easily forged, so that it is difficult for ADS-B receivers to judge whether the target is authentic. Meanwhile, in order to solve the problem that a wired link is laid between receiving stations due to clock errors of the receiving stations in the existing multipoint positioning system, cost of the multipoint positioning system reaches thousands of yuan, and a local airport cannot purchase the facility.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide a positioning and false target identification method based on ADS-B message pulse counting, which solves the problem by utilizing modeling and programming, greatly reduces the cost, makes full use of the existing technical means to make up for the defects of ADS-B technology and secondary radar, enhances the airport scene monitoring problem, greatly ensures the safety of an aircraft, and identifies false targets in time.
In order to achieve the above object, the present invention adopts the following technical solutions:
a positioning and false target identification method based on ADS-B message pulse counting is characterized by comprising the following steps:
step 1) sending data pulses from an aircraft with an S-mode responder, and calculating the initial serial number of a leading pulse by each interception base station;
step 2) matching the same pulse signals by each detection and reception base station, and calculating the measurement error of each detection and reception base station through pulse deviation counting;
step 3) introducing a measurement pulse deviation correction mechanism to accurately obtain the measurement error of each base station;
step 4) setting a threshold, comparing the number of base stations of the received ADS-B signal with the threshold, and if the number of base stations is not less than the threshold, turning to the step 5), otherwise, turning to the step 6);
step 5) arranging the signal stations according to a star shape, simultaneously transmitting signals to a target, considering the measurement error of each base station, and generating an intersection point through three single-side curved surfaces to determine a position;
and 6) acquiring the real-time position of the target or dividing the flight range through the interception base station, and eliminating false signal interference by using a purpose conformity verification method.
The positioning and false target identification method based on ADS-B message pulse counting is characterized in that the specific content of the step 1) is as follows:
adopting a response signal of an aircraft with an S-mode transponder as a signal radiation source, and calculating the number of pulses before each ground detection and reception base station from the received message preamble;
calculating the initial number of the received leading pulse, matching the same pulse signal and sending it to the master station, the master station processing uniformly, ADS-B message transmitting the pulse with the pulse interval of 0.5 microsecond from the first sending pulse, when the detecting base station receives the same message leading pulse, calculating the pulse count received before.
The positioning and false target identification method based on ADS-B message pulse counting is characterized in that the specific content of the step 2) is as follows:
the pulse count P before the time when the receiving station i receives the preamble information is noted i When the receiving station starts to search ADS-B leading pulse, collecting the received pulse signals;
wherein each of the detecting base stations has an error with the central base station
ΔP i1 The number of pulses received by each of the receiving base stations is subtracted from the number of pulses of the central base station,
the average pulse width is, delta l is latitude and longitude information of a signal sent by an S-mode transponder, and the distance from an aircraft with the S-mode transponder to each receiving station is obtained through calculation; c is the speed of pulse delivery.
The positioning and false target identification method based on ADS-B message pulse counting is characterized in that the specific content of the step 3) is as follows:
the system error is corrected by adopting a weighted moving average method, and the specific formula is as follows:
wherein, Y i Is the difference in pulse count between the i-th observed base stations, X i Is the weight of the ith observation artificially given, giving a weight value according to the distance from the observation of the prediction period, giving smaller weight values to the observation closer, and adding up all the weight values to be equal to 1; the total number of observed values is n;
definition set Y 1 ，Y 2 ，Y 3 ，……，Y 100 In which the latest one of the observations ap is applied i1 Is defined as Y 1 Let Y be 100 Removing the set, and adding one to the subscript numbers of all other values;
different observations are given different weights, with observations closer to the prediction horizon being given greater weights and observations further from the prediction horizon being given correspondingly lesser weights.
The positioning and false target identification method based on ADS-B message pulse counting is characterized in that the weight is defined as e -i By calculating the value actually obtained each time using Y 101 It is shown that the process of the present invention,
each time newly obtained Y 101 Fed back to the primary station as Δ P i1 。
The positioning and false target identification method based on ADS-B message pulse counting is characterized in that the threshold value is set to 4 in the step 4).
The positioning and false target identification method based on ADS-B message pulse counting is characterized in that the specific content of the step 5) is as follows:
determining real-time positions of other flight targets by using a multipoint positioning method, wherein at least four intercept base stations are needed to form three single-side hyperboloids to generate intersection points; establishing a model, including the measurement errors of the receiving stations obtained in the step 3) into model calculation, and calculating the target position by a multipoint positioning method.
The positioning and false target identification method based on ADS-B message pulse counting is characterized by comprising the following steps:
step 51) since at least four base stations are needed for multipoint positioning in the three-dimensional space, the receiving stations are distributed in a star shape: selecting connecting lines between other three secondary stations and the main station to form a star shape in the center of the main station, and setting the position coordinate of the main station as (x) 1 ，y 1 ，z 1 ) Assuming the spatial location coordinates are (x, y, z); r is i Is the distance from the ith base station to the target signal, i is 1,2,3,4, R 1i Representing the distance difference between the target signal and the ith secondary station, and expressed by the equation:
t 1i equal to the time when each of the intercept base stations receives the aircraft with unknown geographic information minus the measurement error of each of the intercept base stations from the master station, i.e. t 1i ＝T 1i -Δε 1i Wherein, T 1i Is the time difference, Δ ε, between the reception of the same signal by the base station and the master station 1i The measurement error between the base station i and the master station calculated in the step 2);
step 52) initial position (x) of target 0 ，y 0 ，z 0 ) Randomly locating at a position which is not more than 200km away from the master station;
step 53), carrying out Taylor expansion on the formula in the step 51), and removing components above the second order to obtain: psi ═ h t -G t d, wherein each matrix vector is expressed as follows:
solving the target position deviation by using a weighted least square method as follows:
wherein R is i ' indicates an assumed target initial position (x) 0 ，y 0 ，z 0 ) Distances from each base station; q represents the relative error introduced by the practical measuring unit in each base station, and the inherent errors of each base station are the same;
step 54) initializing the bitsSubstitution (x) 0 ，y 0 ，z 0 ) In the formula, the distance (x) is calculated n ，y n ，z n ) Calculating the position deviation, setting the threshold as epsilon 150m, when | x n -x 0 |+|y n -y 0 |+|z n -z 0 |<E, finishing the calculation and feeding back the result (x) n ，y n ，z n ) (ii) a If not, let (x) be calculated in the next calculation n ，y n ，z n )＝(x n +Δx 0 ，y n +Δy 0 ，z n +Δz 0 ) Repeating the calculation;
step 55) converting (x) n ，y n ，z n ) And converting the coordinates into longitude and latitude height coordinates, and comparing the longitude and latitude height coordinates with position information in the ADS-B message to judge whether the ADS-B message is an effective target.
The positioning and false target identification method based on ADS-B message pulse counting is characterized in that the specific content of the step 6) is as follows:
a) when a plurality of detecting and receiving base stations receive the target signal, the real-time position (x) of the target is calculated by using a multipoint positioning method n ，y n ，z n ) Then comparing the position information with the position information in the ADS-B message sent by the target to judge whether the target is a false signal;
b) when the interception base station is in poor reception or the base station crashes, the association degree of the airplane movement and the intention of the ADS-B message is obtained by using the association function, and the formula is as follows:
wherein, Delta epsilon is the relative pulse count of two detective base stations for the same flying target,
is the average width of the pulse, (x) a ,y a ,z a ) And (x) b ,y b ,z b ) Is twoAnd (x) longitude and latitude height corresponding to position coordinates of the base station k ,y k ,z k ) The method comprises the following steps that longitude and latitude height information of a flying target is obtained, and delta P is a preset pulse number deviation and is used for estimating a containing space and judging a reference of an aircraft position range;
calculating by substituting the longitude and latitude heights of the aircraft into a formula, judging the distance error between the position detected by the multipoint positioning system and the position information carried by the ADS-B message, and if the position information carried by the aircraft is displayed in a set distance band, considering the aircraft as an effective target; if the location information appears not to be within range, it is considered a false target.
The invention has the following beneficial effects: the aircraft with the S-mode transponder is used as the existing condition, so that the clock error among all receiving stations can be effectively calculated under the condition that a line link is not installed; the error is then incorporated as a known variable into the mathematical model by means of programming without consideration for the elimination of the error, and finally the real-time position of the aircraft is obtained by continuous induction. The method greatly saves the cost of constructing a multipoint positioning system, effectively ensures the monitoring of the flying target around the airport, and makes up the defects of secondary radar and ADS-B monitoring.
Drawings
FIG. 1 is a schematic flow diagram of the overall process of the present invention;
FIG. 2 shows the pulse count distribution of the ADS-B signals received by different base stations;
FIG. 3 is a schematic diagram of a base station receiving a distance difference of a reference aircraft;
fig. 4 is a schematic diagram of a base station arrangement.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The method adopts an aircraft carrying an S mode responder to automatically broadcast data pulse signals, and a ground detection and receiving base station collects reference aircraft ADS-B message pulse signals and calculates the start of a leading pulseAnd numbering, matching the same pulse signals, uniformly sending the acquired information to a central base station for processing, correcting the counting deviation by a master station through a weighted moving average method, and establishing a model to obtain the measurement error between each interception base station and the central base station through calculation. When the number of the base stations necessary for multipoint positioning exists, each interception base station sends inquiry signals to other aircrafts of which the positioning information is unknown, and false target identification and multipoint positioning are carried out on the aircrafts through the signals obtained by feedback to form a multipoint positioning related monitoring system based on ADS-B; when the number of base stations is less than the requirement necessary for multipoint positioning, a range estimation method of a containing space can be adopted to effectively verify a false target based on the positioning information obtained by calculation. The letters in the figures are defined as follows: delta P 21 Is the difference, Δ P, between the pulse counts received at base station number 2 and base station number 1 31 Is the difference between the pulse counts received by base station number 3 and base station number 1. L is 1 The distance between an aircraft with an S-mode transponder and a base station No. 1; l is i The distance between the aircraft with the S-mode transponder and the base station with the number i is shown. BS i Is the code number of the ith base station.
As shown in fig. 1, the method comprises the following steps:
So that the measurement error between each base station and the master station is
The distance between each of the detecting base stations and the master station is shown in FIG. 3, and the distance Δ l is shown i1 Is to use 1 -l i Difference of pulse number Δ P i1 Equal to Y calculated by the formula in step 3 101 。
And 3, as the number of the target measurement increases along with the time, the error of the whole system linearly increases along with the time. In order to solve the problem of the increasing deviation, a weighted moving average method is adopted to correct the system error. The concrete formula is as follows:
we define a set Y 1 ，Y 2 ，Y 3 ，……，Y 100 Where the latest one of the observations Δ P is i1 Is defined as Y 1 Let Y be 100 And (4) eliminating a set, and increasing the subscript number of all other values by one. We give different observations different weights, larger for observations near the prediction period and correspondingly smaller for observations further away from the prediction period, we do not define the weight as e since the sum of all weights is equal to 1 -x 。
So pass through meterIn practice, the value obtained by us is Y 101 It is shown that,
each time newly obtained Y 101 And feeding back to the master station, so as to become a parameter for calculating the measurement error between each detection base station and the master station in the step 2.
Referring to step 2, we put the calculated pulse deviation into a calculation formula to calculate the measurement error of the detecting and receiving base station. In the measurement process, if there is a case that the measured value is greatly different from the last measured value, we generally consider that a certain detective base station does not receive a signal or a system crash occurs, we should omit { Y } 1 ，Y 2 ，Y 3 ，……，Y 100 Reincorporating the observed values and then starting the calculation.
And 4, determining other flight targets by using a multipoint positioning method according to the detection result in the step 3, and judging whether the flight targets are effective targets and the real-time positions of the flight targets. For this purpose, at least four base stations are needed to form three single-side hyperboloids to generate the intersection.
And (4) establishing a model, incorporating the clock errors of the receiving stations obtained in the step (3) into model calculation, and calculating the target position by a multipoint positioning method. And selecting the content of the next step according to the number of the base stations receiving the signals.
step 51) since at least four base stations are needed for multipoint positioning in the three-dimensional space, the receiving stations are distributed in a star shape: selecting connection lines between other three secondary stations and the main station to form a star shape in the center of the main station, and setting the position coordinate of the main station as (x) 1 ，y 1 ，z 1 ) Assuming the spatial location coordinates to be (x, y, z); r i Is the distance from the ith station to the target signal, i is 1,2,3,4, R 1i Representing the distance difference between the target signal and the ith secondary station, and expressed by the equation:
t 1i equal to the time when each of the intercept base stations receives the aircraft with unknown geographic information minus the measurement error of each of the intercept base stations from the master station, i.e. t 1i ＝T 1i -Δε 1i Wherein, T 1i Is the time difference, Δ ε, between the reception of the same signal by the base station and the master station 1i Measuring errors of the base station i and the master station, which are obtained by calculation in the step 2);
step 52) initial position (x) of the target 0 ，y 0 ，z 0 ) Randomly locating at a position which is not more than 200km away from the master station;
step 53), carrying out Taylor expansion on the above formula, and removing components above the second order to obtain: psi ═ h t -G t d. Wherein each matrix vector is expressed as follows:
the target position deviation is solved using a weighted least squares method (WLS) as:
wherein R is i ' indicates a hypothetical target initial position (x) 0 ，y 0 ，z 0 ) Distances from each base station; c represents the speed of the pulse in space, i.e. the speed of light; t is t 1i Subtracting the measurement error between each detection and reception base station and the master station from the time when each detection and reception base station receives the aircraft with unknown geographic information; q is a relative error introduced by practical measurement units in each base station, and the inherent error of each base station is considered to be the same。
Step 54) We assign the initial position to (x) 0 ，y 0 ，z 0 ) Calculating the distance and then the position deviation, setting the threshold as epsilon 150m, when | Δ x | + | Δ y | + | Δ z<E, finishing the calculation and feeding back the result (x) n ，y n ，z n ) (ii) a If not, the calculation is repeated.
And 6, when the number of the received base stations is less than 4, judging whether the message is true or false by adopting a purpose-matching verification method in order to identify the authenticity of the ADS-B message and eliminate the interference of a false flight target on a monitoring station.
a) When a plurality of detecting and receiving base stations receive the target signal, the real-time position (x) of the target is calculated by using a multipoint positioning method n ，y n ，z n ) Then comparing the position information with the position information in the ADS-B message sent by the target to judge whether the target is a false signal;
b) when the interception base station is badly received or the base station crashes, the relevance degree of the airplane movement and the ADS-B message intention is calculated by using a relevance function, and the formula is as follows:
wherein, Delta epsilon is the relative pulse count of two detection base stations to the same flying target,
is the average width of the pulse, (x) a ,y a ,z a ) And (x) b ,y b ,z b ) Is the longitude and latitude height corresponding to the position coordinates of the two intercept base stations, (x) k ,y k ,z k ) The method comprises the following steps that longitude and latitude height information of a flying target is obtained, and delta P is a preset pulse number deviation and is used for estimating a containing space and judging a reference of an aircraft position range;
and substituting the longitude and latitude height of the aircraft into a formula for calculation, and judging the distance error between the position detected by the multipoint positioning system and the position information carried by the ADS-B message. If the self-contained position information of the aircraft is displayed in the set distance band, the self-contained position information of the aircraft is regarded as a valid target; if the location information is not shown to be within range, it is considered a false target.
The final result is: if a is the case, then (x) is calculated n ，y n ，z n ) The coordinates are converted into longitude and latitude height coordinates, and then the longitude and latitude height coordinates are compared with position information in the ADS-B message carried by the user to judge whether the ADS-B message is an effective target.
If b is the case, we get the pulse deviation Y of the detecting base station and the main station through step 3 101 And (3) obtaining the relative pulse count delta epsilon of the random reconnaissance base station and the master station to the same flight target with the measurement errors of the reconnaissance base stations and the master station in the step (2), substituting the longitude and latitude height coordinates of the aircraft into a formula for calculation, and judging whether the aircraft is in a specified accommodation space. If yes, judging the target to be a valid target, and if not, judging the target to be a false target.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A positioning and false target identification method based on ADS-B message pulse counting is characterized by comprising the following steps:
step 1) sending data pulses from an aircraft with an S-mode responder, and calculating the initial number of the leading pulse by each interception base station;
step 2) matching the same pulse signals by each detection and reception base station, and calculating the measurement error of each detection and reception base station through pulse deviation counting;
step 3) introducing a measurement pulse deviation correction mechanism to accurately obtain the measurement error of each detection and reception base station;
step 4) setting a threshold, comparing the number of the interception base stations of the received ADS-B signals with the threshold, and if the number of the interception base stations is not less than the threshold, turning to step 5), otherwise, turning to step 6);
step 5) arranging the detecting and receiving base stations according to the star shape, simultaneously transmitting signals to a target, considering the measurement error of each detecting and receiving base station, and generating intersection points through three single-side curved surfaces to determine positions;
step 6) acquiring a real-time target position or dividing a flight range through a detecting and receiving base station, and eliminating false signal interference by using a purpose-matching verification method;
the specific content of the step 2) is as follows:
the pulse count before the detection base station i receives the leading pulse is marked as P i When the detecting base station starts to search ADS-B leading pulse, collecting the previously received pulse signal;
wherein each of the sensing base stations senses an error with the master station
ΔP i1 The pulses received by each of the receiving stations are subtracted from the pulse count of the master station,
the average pulse width is, delta l is longitude and latitude information of a signal sent by an S mode transponder, and the distance from the aircraft with the S mode transponder to each detection base station is obtained through calculation; c is the speed of pulse delivery;
the specific content of the step 3) is as follows:
the measurement error is corrected by adopting a weighted moving average method, and the specific formula is as follows:
the latest observed value delta P i1 Is defined as Y n+1 ；
Different observation values are given different weights, observation values close to the prediction period are given larger weights, and observation values farther away from the prediction period are given smaller weights correspondingly.
2. The ADS-B message pulse count-based positioning and false target identification method according to claim 1, wherein the specific contents of step 1) are:
adopting a response signal of an aircraft self-contained S-mode transponder as a signal radiation source, and calculating the pulse count before each ground detection and reception base station from the received message leading pulse;
calculating the initial number of the received leading pulse, matching the same pulse signal, and transmitting the same pulse signal to the main station, the main station uniformly processes, the ADS-B message should start from the first transmitted pulse and transmit the pulse with the pulse interval of 0.5 microsecond, when the detecting base station receives the leading pulse of the same message, the counting of the received pulse is calculated.
3. An ADS-B message pulse count based localization and false target identification method according to claim 1, wherein the threshold value in step 4) is set to 4.
4. An ADS-B message pulse count-based positioning and false target identification method according to claim 3, wherein the specific contents of step 5) are:
determining the real-time positions of other aircrafts by using a multipoint positioning method, wherein at least four reconnaissance base stations are needed to form three single-side hyperboloids to generate intersection points; establishing a model, incorporating the measurement error of each interception base station obtained in the step 3) into model calculation, and calculating the target position by a multipoint positioning method.
5. The ADS-B message pulse count-based positioning and false target identification method according to claim 4, wherein the step 5) specifically comprises the steps of:
step 51) because at least four interception base stations are needed for multipoint positioning in the three-dimensional space, the interception base stations are distributed according to a star shape: selecting connecting lines between other three secondary stations and the main station to form a star shape in the center of the main station, and setting the position coordinate of the main station as (x) 1 ，y 1 ，z 1 ) Assuming that the position coordinates of the aircraft for which the geographic information is unknown are (x, y, z); r i Is the distance from the ith station to the target signal, i is 1,2,3,4, R 1i Representing the distance difference between the target signal and the ith secondary station, and expressed by the equation:
R 1 -R i ＝ct 1i ＝R 1i ，i＝2，3，4；
t 1i ＝T 1i -Δε 1i wherein, T 1i Is the time difference, Δ ε, between the reception of the same signal by the ith secondary station and the primary station 1i The measurement error of the ith secondary station and the master station is calculated in the step 2); c is the speed of pulse delivery, i.e., the speed of light;
step 52) initial position (x) of the target 0 ，y 0 ，z 0 ) Randomly locating at a position which is not more than 200km away from the master station;
step 53), carrying out Taylor expansion on the formula in the step 51), and removing components above the second order to obtain: psi ═ h t -G t d, wherein each matrix vector is expressed as follows:
solving the target position deviation by using a weighted least square method as follows:
wherein R' i Indicates the assumed initial position (x) of the target 0 ，y 0 ，z 0 ) The distance between each detection and reception base station;
q represents the relative error introduced by the practical measuring unit in each detecting and receiving base station, and the inherent errors of each detecting and receiving base station are the same;
step 54) the initial position (x) 0 ，y 0 ，z 0 ) Calculating the distance in the formula, calculating the position deviation, setting the threshold as epsilon as 150m, and when | delta x 0 |+|Δy 0 |+|Δz 0 If | < epsilon, finishing the calculation and feeding back the result (x, y, z); if not, let (x) be calculated in the next calculation 0 ，y 0 ，z 0 )＝(x 0 +Δx 0 ，y 0 +Δy 0 ，z 0 +Δz 0 ) Repeating the calculation;
and step 55) converting the (x, y, z) coordinates into longitude and latitude height coordinates, and comparing the longitude and latitude height coordinates with position information in the ADS-B message to judge whether the ADS-B message is an effective target.
6. The ADS-B message pulse count-based positioning and false target identification method of claim 1, wherein the specific contents of step 6) are:
a) when a plurality of interception base stations receive a target signal, calculating a real-time position (x, y, z) of the target by using a multipoint positioning method, and then comparing the real-time position (x, y, z) with position information in an ADS-B message sent by the target to judge whether the target is a false signal;
b) when the interception base station is poor in reception or crashes, the relevance degree of the aircraft movement and the ADS-B message intention is calculated by using a relevance function, and the formula is as follows:
wherein,
is the average width of the pulse, (x) a ，y a ，z a ) And (x) b ，y b ，z b ) Is the longitude and latitude height corresponding to the position coordinates of the two base stations, (x) k ，y k ，z k ) The method comprises the steps that longitude and latitude height information of an aircraft is provided, and delta P is a preset pulse counting deviation and is used for estimating a containing space and judging the reference of the position range of the aircraft;
calculating by substituting the longitude and latitude heights of the aircraft into a formula, judging the distance error between the position detected by the multipoint positioning system and the position information carried by the ADS-B message, and if the position information carried by the aircraft is displayed in a set distance band, considering the aircraft as an effective target; if the location information appears not to be within range, it is considered a false target.
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| CN109886116B (en) * | 2019-01-21 | 2021-03-09 | 中国人民解放军战略支援部队信息工程大学 | Radiation source individual identification method and device based on ADS-B |
| CN110061801B (en) * | 2019-04-25 | 2020-11-17 | 电子科技大学 | Abnormal target discrimination system and method in aviation monitoring system |
| CN114731484A (en) * | 2019-11-19 | 2022-07-08 | 华为技术有限公司 | Positioning method and device thereof |
| CN110940972B (en) * | 2019-12-09 | 2023-04-07 | 中国民航大学 | Method for extracting S-mode signal arrival time of multi-preamble pulse combined filtering detection |
| CN113050052B (en) * | 2021-03-08 | 2022-08-09 | 四川九洲空管科技有限责任公司 | Multi-target response simulation method for friend or foe identification system |
| CN113050137B (en) * | 2021-03-09 | 2022-04-26 | 江西师范大学 | Multi-point cooperative measurement spatial information acquisition method |
| CN113589225B (en) * | 2021-07-29 | 2023-07-18 | 四川九洲电器集团有限责任公司 | Method and device for positioning aerial target |
| CN114279466B (en) * | 2021-12-23 | 2024-02-27 | 中国电子科技集团公司第十四研究所 | Sensor error correction method |
| CN114626409B (en) * | 2022-02-21 | 2023-09-26 | 中铁第四勘察设计院集团有限公司 | Near fault acceleration pulse identification method, storage medium and computer equipment |
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