CN109239657A - Load the radiation source high-precision locating method under nested battle array unmanned aerial vehicle platform - Google Patents
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- CN109239657A CN109239657A CN201811031153.7A CN201811031153A CN109239657A CN 109239657 A CN109239657 A CN 109239657A CN 201811031153 A CN201811031153 A CN 201811031153A CN 109239657 A CN109239657 A CN 109239657A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The invention discloses wireless radiation source high-precision locating methods under a kind of unmanned aerial vehicle platform for loading nested battle array, include the following steps: step 1, are obtained using the unmanned plane for carrying nested battle array and receive data matrix x (t)；Step 2 constructs autocorrelation matrix R=Ε { x (t) xH(t) }, autocorrelation matrix vector quantization is obtained virtually to receive data vector y；Step 3, to the virtual data vector y that receives by obtaining y after Virtual array name placement de-redundancys, and obtain the autocorrelation matrix R of virtual sub-arrayi, reference Search Space Smoothing processing RiObtain space smoothing matrix Rss；Step 4 passes through feature decomposition RssObtain noise subspace En, construct the space MUSIC spectral function PmusicObtain the angle estimation of radiation source.Wireless radiation source high-precision locating method under a kind of unmanned aerial vehicle platform of loading nesting battle array of the invention, data acquisition is more accurate, be conducive to rear end and accurate localization process is carried out to radiation source, with identical array antenna number, more wireless radiation source position estimations can be obtained, there is higher radiation source positioning accuracy.
Description
Technical field
The present invention relates to a kind of localization methods of radiation source under unmanned aerial vehicle platform, connect specifically by what is obtained to unmanned plane
Method of the data processing to obtain radiation source positions information is received, array signal processing field is belonged to.
Background technique
With the fast development of radio technology, wireless telecommunications are faced with the safety problem being on the rise, to set up privately
Pirate radio, the without authorization illegal use frequency and electromagnetic interference headed by flight unmanned plane, have seriously affected normal radio traffic, very
To the paralysis that will cause the key sectors such as aerial navigation, high-speed rail operation, flood control communication, there is serious social harm.Pass through
The harm of their brings can be effectively reduced in regulation and investigation to these wireless radiation sources.Traditional radiation source localization method
Based on checking with ground artificial, scan for positioning with handheld directional antenna by portable receiver, inefficiency, and because
Difficulty stronger for ground signal multi-path jamming, that the positioning of radiation source is become.
Frequency spectrum data is acquired in real time in the sky by unmanned aerial vehicle platform and processing, smart frequency spectrum of the formation to ambient enviroment
Cognition can be accurately positioned radiation source positions finally to data progress signal processing is received in a short time.It can effectively solve the problem that
Radio supervision area checks the problem that difficulty is big, the search cycle is long, positioning accuracy is poor.But for searching under unmanned aerial vehicle platform
The array antenna number of positioning is extremely limited, and the traditional antenna mode of structuring the formation can not obtain higher radiation source positioning accuracy.With
The development of array signal process technique, scholars propose a kind of nested battle array structure heterogeneous, it was demonstrated that have N number of sensor
The freedom degree of nested array can reach O (N2), and identical algorithms want excellent for the estimation positioning performance of target source under nested battle array
In conventional uniform array, the conventional uniform array loaded under unmanned aerial vehicle platform is replaced with nested array, more nothings can be obtained
Beta radiation source location information and higher radiation source positioning accuracy.
Summary of the invention
Goal of the invention: wireless radiation source high-precision locating method utilizes under the unmanned aerial vehicle platform of the nested battle array of loading of the invention
The high accuracy positioning for being implemented in combination with wireless radiation source of nested battle array and unmanned aerial vehicle platform.
Technical solution:
Wireless radiation source high-precision locating method under a kind of unmanned aerial vehicle platform of loading nesting battle array of the invention, utilizes nobody
Machine loads nested battle array in the sky to ambient enviroment frequency spectrum intelligent cognition, obtains frequency spectrum and receives data, by reception data application
DOA algorithm for estimating obtains the positioning of radiation source, and method for processing received signal is specially to reception data vector covariance matrix arrow
Quantification treatment, the Virtual array for obtaining a linear increase receive data vector, finally quote space smoothing MUSIC algorithm to void
Quasi- receive after data covariance matrix is handled obtains the accurate positioning in wireless radiation source.
Wireless radiation source high accuracy positioning side under a kind of unmanned aerial vehicle platform of loading nesting battle array of the invention, including walk as follows
It is rapid:
Step 1 is obtained using the unmanned plane for carrying nested battle array and receives data matrix x (t)；
Step 2 constructs autocorrelation matrix R=Ε { x (t) xH(t) }, autocorrelation matrix vector quantization is virtually received
Data vector y；
Step 3, to the virtual data vector y that receives by obtaining y after Virtual array name placement de-redundancys, and obtain virtual
The autocorrelation matrix R of subarrayi, reference Search Space Smoothing processing RiObtain space smoothing matrix Rss；
Step 4 passes through feature decomposition RssObtain noise subspace En, construct the space MUSIC spectral function PmusicIt is radiated
The angle estimation in source.
Further, step 1 specifically: nested battle array is made of second level submatrix, it is assumed that array number is in first order subarray
N1, and d is divided between array element1=λ/2；The array number of second level subarray is N2, and d is divided between array element2=(N1+1)d1, wherein λ
For electromagnetic wavelength, the spacing between two subarrays is d=d1, total array number is N=N1+N2, element position is expressed as
Ls={ 1d .., N1d,(N1+1)d,2(N1+1)d,...,N2(N1+1)d}
It is more in order to generate after virtualizing array received signal autocorrelation matrix according to nested linear array design theory
Virtual array receive vector, subarray array number N1And N2There are relationships between the total array number N of nested linear array are as follows: works as array element
When total N is even number, N1=N2=N/2, when N is odd number, N1=(N-1)/2, N2=(N+1)/2, it is assumed that obtain K radiation
Source data information x (t), radiation source are the uncorrelated signal in far field narrowband, and incident orientation angle is θ=[θ1,θ2,…,θK], x (t) can
To be expressed as
Wherein,It is direction matrix；S (t)=[s1(t),s2(t),…,sK(t)]T
It is information source vector；It is white Gaussian noise vector,Table
Show direction vector, wherein ln∈ Ls (n=1,2 ..., N) indicates the position of the array element in nested battle array.
Further, step 2 specifically: the autocorrelation matrix of emitter Signals indicates are as follows:
Wherein, ()HConjugate transposition operation, I are asked in expressionNIndicate that dimension is the unit matrix of N × N, Ε () is the statistics phase
Hope operator,It is the mean power of k-th of signal,Receiving the limited situation of number of snapshots
Under, signal autocorrelation matrix is practical to be indicated are as follows:
Wherein, t=1,2 ..., L, L represent number of snapshots,
To reception data autocorrelation matrix obtained aboveIt is obtained after vector quantization:
Wherein, vec () is mathematic(al) representation vectorization operator, symbolIndicate the Khatri-Rao between two matrixes
Product,Q=vec (IN)；Subscript " * " representing matrix conjugation,It is one
A unit matrix, data vector y are that the virtual line arrays an of linear increase receive data vector, and wherein p is a single snap
Signal phasor, AvIt is the direction vector matrix of virtual array.
Further, step 3 specifically: to AvBy element position sequence and de-redundancy obtains As, AsDimension can be regarded as
For (N2+ 2N-2)/2 × K new direction matrix, virtual array element position be-(N2/4+N/2-1)d1To (N2/4+N/2-1)d1,
Virtual array array element sum is M=2 (N2/ 4+N/2-1)+1, the new virtual data vector that receives is expressed as
WhereinIt is the direction matrix of virtual array, As(l, k) it is a
Element isFor in addition to (1+M)/2 element is 1 its
Remaining element is all 0 column vector；
The estimated location of radiation source is solved with space smoothing MUSIC algorithm, it is assumed that ysiIt is ysI-th of virtual sub-array connect
Data are received, element position is (- (N2/4+N/2-1)+i-1)d1To (i-1) d1, ysiIndicate ysThe i-th row to (N2/4+N/2+
I-1 it) goes, wherein i=1,2 ..., N2/ 4+N/2, enables Ri=E { ysi Hysi, then space smoothing matrix is expressed as
WhereinIt is first son
The direction matrix of array,For corresponding first submatrix of k-th of information source
The direction vector of column, As1(l, k) a element beRssMeet full rank
Characteristic.
Further, step 4 specifically: to RssEigenvalues Decomposition obtains signal noise subspace En, construct spatial spectrum letter
Number Pmusic,
Search spectrum peak value can obtain the angle estimation value of radiation source
The utility model has the advantages that
The fast development of radio technology is along with serious illegal frequency and electromagnetic interference problem, by radiation source reality
Applying search and positioning effectively can be renovated and be checked to problems, using unmanned aerial vehicle platform in the sky to frequency spectrum data
Acquisition in real time and processing are formed and are recognized to the smart frequency spectrum of ambient enviroment, carry out signal processing to data are received, can be in short-term
Interior accurate positioning radiation source positions；UAV flight's array antenna number is limited, has an adverse effect to positioning accuracy, passes through
The mode for arranging nested array, can obtain huge virtual reception array element, and a nested linear array with N number of antenna is free
Degree can reach O { N2, the monitoring in more wireless radiation sources under unmanned aerial vehicle platform may be implemented；Pass through space smoothing multiple signal point
Class (Multiple Signal classification, MUSIC) algorithm is handled data are received, and target spoke may be implemented
The accurate positioning in source is penetrated, and the radiation source positions information obtained compared to same procedure under traditional array, nested array also have
There is higher positioning accuracy；The wireless radiation source data information that obtains under comparison conventional method, the application of unmanned aerial vehicle platform so that
Data acquisition is more accurate, is conducive to rear end and carries out accurate localization process to radiation source；With identical array antenna number feelings
Under condition, unmanned plane loading nested array can obtain more wireless radiation source positions compared to loading conventional uniform array and estimate
Meter；Method of the invention has higher radiation source positioning accuracy.
Detailed description of the invention
Fig. 1 is nested linear array structural topology figure.
Fig. 2 is the RMSE performance simulation figure that different array algorithms change with signal-to-noise ratio under the method for the present invention.
Fig. 3 is the RMSE performance simulation figure that different array algorithms change with snap under the method for the present invention.
Fig. 4 is under the method for the present invention using the algorithm RMSE performance simulation figure of the nested battle array of different array numbers.
Specific embodiment
Further explanation is done to the present invention with reference to the accompanying drawing.The present invention is based on the unmanned planes of carry sensor array
Radiant source target is positioned, sensor array is embedded among unmanned plane by integrated technology, can to radiation source information into
Row acquisition in real time.Method proposed by the present invention, using nested linear array, passes through the unmanned plane of the nested battle array of loading in unmanned aerial vehicle platform
Platform, which obtains, receives data, obtains the positioning of radiation source, nested linear array structure to data application array signal processing knowledge is received
As shown in Figure 1, wherein level indicates subarray.Uniform array antenna spatial degrees of freedom is lower under conventional method, it is assumed that has N
The even linear array of a array element, spatial degrees of freedom is O { N-1 }, and the nested linear array with N number of array element, spatial degrees of freedom can reach
To O { N2, aerial array is highly integrated in unmanned plane body.
Wireless radiation source high-precision locating method under a kind of unmanned aerial vehicle platform of loading nesting battle array of the invention, including it is as follows
Step:
Step 1 is obtained using the unmanned plane for carrying nested battle array and receives data matrix x (t)；
Step 2 constructs autocorrelation matrix R=Ε { x (t) xH(t) }, autocorrelation matrix vector quantization is virtually received
Data vector y；
Step 3, to the virtual data vector y that receives by obtaining y after Virtual array name placement de-redundancys, and obtain virtual
The autocorrelation matrix R of subarrayi, reference Search Space Smoothing processing RiObtain space smoothing matrix Rss；
Step 4 passes through feature decomposition RssObtain noise subspace En, construct the space MUSIC spectral function PmusicIt is radiated
The angle estimation in source.
In step 1, traditional even linear array is substituted using nested battle array, nested linear array structure as shown in Figure 1, it by second level
Submatrix composition, it is assumed that array number is N in first order submatrix1, and d is divided between array element1=λ/2；The array number of second level submatrix is
N2, and d is divided between array element2=(N1+1)d1, wherein λ is wavelength.Spacing between two subarrays is d1, total array number is N=
N1+N2.Element position is expressed as
Ls={ 1d .., N1d,(N1+1)d,2(N1+1)d,...,N2(N1+1)d}
It is more in order to generate after virtualizing array received signal autocorrelation matrix according to nested linear array design theory
Virtual array receive vector, subarray array number N1And N2There are relationships between the total array number N of nested linear array are as follows: works as array element
When total N is even number, N1=N2=N/2, when N is odd number, N1=(N-1)/2, N2=(N+1)/2, it is assumed that the present invention utilizes this
Platform obtain K radiation source data information be x (t), radiation source be the uncorrelated signal in far field narrowband, incident orientation angle for θ=
[θ1,θ2,…,θK], x (t) can be expressed as
Wherein,It is direction matrix；S (t)=[s1(t),s2(t),…,sK
(t)]TIt is information source vector；It is white Gaussian noise vector.
Indicate direction vector, wherein ln∈ Ls (n=1,2 ..., N) indicates the position of the array element in nested battle array.
In step 2, the autocorrelation matrix of emitter Signals is indicated are as follows:
Wherein, Ε () is statistical expection operator,It is the mean power of k-th of signal.
In the case where receiving the limited situation of number of snapshots, signal autocorrelation matrix is practical to be indicated are as follows:
Wherein, t=1,2 ..., L, L represent number of snapshots.
To being obtained after reception data covariance matrix vector quantization obtained above:
Wherein,Q=vec (IN)； It is a unit matrix.
Data vector y is that the virtual line arrays an of linear increase receive data vector, and wherein p is the signal phasor of a single snap, Av
It is the direction vector matrix of virtual array.
In step 3, to AvBy element position sequence and de-redundancy obtains As, then AsIt is (N that dimension can be regarded as2+2N-
2)/2 × K new direction matrix, virtual array element position are-(N2/4+N/2-1)d1To (N2/4+N/2-1)d1, virtual array
Array element sum is M=2 (N2/ 4+N/2-1)+1, the new virtual data vector that receives is expressed as
WhereinIt is the direction matrix of virtual array, As(l, k) it is a
Element isFor in addition to (1+M)/2 element is 1 its
Remaining element is all 0 column vector.
The estimated location of radiation source is solved with space smoothing MUSIC algorithm, it is assumed that ysiIt is ysI-th of virtual sub-array connect
Data are received, element position is (- (N2/4+N/2-1)+i-1)d1To (i-1) d1, ysiIndicate ysThe i-th row to (N2/4+N/2+
I-1 it) goes, wherein i=1,2 ..., N2/4+N/2.Enable Ri=E { ysi Hysi, then space smoothing matrix is expressed as
WhereinIt is first son
The direction matrix of array, As1(l, k) a element beKnow RssIt is full
Sufficient full rank characteristic.
In step 4, to RssEigenvalues Decomposition obtains signal noise subspace En, by constructing space spectral function, search spectrum
Peak value can obtain the position estimation value of radiation source
The reception data accuracy obtained by unmanned aerial vehicle platform is higher than the data precision obtained under traditional platform, uses below
It emulates to prove in the case of unmanned plane loads nested battle array compared to loading conventional uniform array mentioning on radiation source positioning performance
It rises.Assuming that it is identical to receive data in the case of two kinds, deemed-to-satisfy4 analysis can be carried out to of the invention with MATLAB emulation.Wherein, it adopts
Carry out appraisal procedure DOA estimation performance with rooting mean square error (Root Mean Square Error, RMSE), RMSE is defined such as
Under:
Wherein, Q is the number of Monte Carlo experiment,It is k-th of point of theory θkThe q times experiment estimation.This
Emulation setting Q=1000, it is assumed that two radiation sources are (θ relative to unmanned plane coordinate1=100,θ2=300)。
Fig. 2 gives that MUSIC algorithm under nested linear array, the angle of MUSIC algorithm is estimated under ESPRIT algorithm and even linear array
Performance comparison is counted, it is identical that simulation parameter is set as two kinds of array elements sums, N=2N1=2N2=6, number of snapshots L=500.From figure
In it can be seen that under conditions of with identical low signal-to-noise ratio, the DOA algorithm for estimating performance under nested array is better than uniform array.
The Signal-to-Noise obtained in actual life is generally relatively low, so nested array advantage is larger.
Fig. 3 gives under the conditions of Signal to Noise Ratio (SNR)=0dB, and three kinds of methods are with the increased DOA algorithm for estimating of number of snapshots
It can compare, array number setting such as Fig. 2, it can be seen that with the increase of number of snapshots, the angle estimation performance of three kinds of methods improves, and
Algorithm performance under nested linear array is better than the algorithm performance of even linear array.Corresponding to system application, number of snapshots are depended primarily on pair
The sample rate of signal.
Fig. 4 gives in number of snapshots L=500, for the nested array under unmanned aerial vehicle platform proposed by the present invention
MUSIC algorithm algorithm performance under the conditions of different array numbers is respectively set to N=4 with signal-to-noise ratio change curve, array number,
N=6, N=8.As can be seen that with the increase of array number, algorithm performance improves, also reflects from side in unmanned aerial vehicle platform
Under, array numbers more more than even linear array can be obtained using nested array, to have higher algorithm performance.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
1. wireless radiation source high-precision locating method under a kind of unmanned aerial vehicle platform for loading nested battle array, which is characterized in that including such as
Lower step:
Step 1 is obtained using the unmanned plane for carrying nested battle array and receives data matrix x (t)；
Step 2 constructs autocorrelation matrix R=Ε { x (t) xH(t) }, autocorrelation matrix vector quantization is obtained virtually to receive data arrow
Measure y；
Step 3, to the virtual data vector y that receives by obtaining y after Virtual array name placement de-redundancys, and obtain virtual submatrix
The autocorrelation matrix R of columni, reference Search Space Smoothing processing RiObtain space smoothing matrix Rss；
Step 4 passes through feature decomposition RssObtain noise subspace En, construct the space MUSIC spectral function PmusicObtain radiation source
Angle estimation.
2. wireless radiation source high accuracy positioning side under a kind of unmanned aerial vehicle platform for loading nested battle array according to claim 1
Method, which is characterized in that step 1 specifically: nested battle array is made of second level submatrix, it is assumed that array number is N in first order subarray1,
And d is divided between array element1=λ/2；The array number of second level subarray is N2, and d is divided between array element2=(N1+1)d1, wherein λ is electricity
Magnetic wave wavelength, the spacing between two subarrays are d=d1, total array number is N=N1+N2, element position is expressed as
Ls={ 1d .., N1d,(N1+1)d,2(N1+1)d,...,N2(N1+1)d}
According to nested linear array design theory, in order to which more void can be generated after virtualizing array received signal autocorrelation matrix
Matroid member receives vector, subarray array number N1And N2There are relationships between the total array number N of nested linear array are as follows: as array element sum N
When for even number, N1=N2=N/2, when N is odd number, N1=(N-1)/2, N2=(N+1)/2, it is assumed that obtain K radiation source data
Information x (t), radiation source are the uncorrelated signal in far field narrowband, and incident orientation angle is θ=[θ1,θ2,…,θK], x (t) can be indicated
For
Wherein,It is direction matrix；S (t)=[s1(t),s2(t),…,sK(t)]T
It is information source vector；It is white Gaussian noise vector,Table
Show direction vector, wherein ln∈ Ls (n=1,2 ..., N) indicates the position of the array element in nested battle array.
3. wireless radiation source high accuracy positioning side under a kind of unmanned aerial vehicle platform for loading nested battle array according to claim 1
Method, which is characterized in that step 2 specifically: the autocorrelation matrix of emitter Signals indicates are as follows:
Wherein, ()HConjugate transposition operation, I are asked in expressionNIndicate that dimension is the unit matrix of N × N, Ε () is that statistical expection is calculated
Son,It is the mean power of k-th of signal,In the case where receiving the limited situation of number of snapshots, signal
Autocorrelation matrix is practical to be indicated are as follows:
Wherein, t=1,2 ..., L, L represent number of snapshots,
To reception data autocorrelation matrix obtained aboveIt is obtained after vector quantization:
Wherein, vec () is mathematic(al) representation vectorization operator, symbolIndicate the Khatri-Rao product between two matrixes,Q=vec (IN)；Subscript " * " representing matrix conjugation,It is a list
Bit matrix, data vector y are that the virtual line arrays an of linear increase receive data vector, and wherein p is the signal of a single snap
Vector, AvIt is the direction vector matrix of virtual array.
4. wireless radiation source high accuracy positioning side under a kind of unmanned aerial vehicle platform for loading nested battle array according to claim 1
Method, which is characterized in that step 3 specifically: to AvBy element position sequence and de-redundancy obtains As, AsIt is (N for dimension2+2N-
2)/2 × K new direction matrix, virtual array element position are-(N2/4+N/2-1)d1To (N2/4+N/2-1)d1, virtual array
Array element sum is M=2 (N2/ 4+N/2-1)+1, the new virtual data vector that receives is expressed as
WhereinIt is the direction matrix of virtual array, As(l, k) a element
For For remaining member in addition to (1+M)/2 element is 1
Element is all 0 column vector；
The estimated location of radiation source is solved with space smoothing MUSIC algorithm, it is assumed that ysiIt is ysI-th of virtual sub-array receive number
According to element position is (- (N2/4+N/2-1)+i-1)d1To (i-1) d1, ysiIndicate ysThe i-th row to (N2/4+N/2+i-1)
It goes, wherein i=1,2 ..., N2/ 4+N/2, enables Ri=E { ysi Hysi, then space smoothing matrix is expressed as
WhereinIt is first subarray
Direction matrix,For corresponding first subarray of k-th of information source
Direction vector, As1(l, k) a element beRssMeet full rank spy
Property.
5. wireless radiation source high accuracy positioning side under a kind of unmanned aerial vehicle platform for loading nested battle array according to claim 1
Method, which is characterized in that step 4 specifically: to RssEigenvalues Decomposition obtains signal noise subspace En, construct space spectral function
Pmusic,
Search spectrum peak value can obtain the angle estimation value of radiation source
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| CN112269160A (en) * | 2020-12-17 | 2021-01-26 | 南京航空航天大学 | Multi-information-source direct positioning method based on unmanned aerial vehicle loading nested array |
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