CN109239658A - A kind of naval vessel formation Precise Position System and method based on TDOA principle - Google Patents
A kind of naval vessel formation Precise Position System and method based on TDOA principle Download PDFInfo
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- CN109239658A CN109239658A CN201811312851.4A CN201811312851A CN109239658A CN 109239658 A CN109239658 A CN 109239658A CN 201811312851 A CN201811312851 A CN 201811312851A CN 109239658 A CN109239658 A CN 109239658A
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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
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Abstract
The present invention relates to a kind of naval vessel formation Precise Position System and method based on TDOA principle, which includes by the first time frequency source positioned on naval vessel, the single-channel receiver being connected and receiving antenna, the first wireless communication machine and the first dual-mode antenna that are connected；The second temporal frequency source on central station naval vessel, the multichannel receiver being connected and receiving antenna, the second wireless network communication equipment and the second dual-mode antenna, central control system that are connected；First dual-mode antenna is coupled with the receiving antenna of each receiving channel of multichannel receiver, the receiving antenna of single-channel receiver and the second dual-mode antenna respectively.The system is to greatly improve positioning accuracy based on the new positioning system of TDOA principle under cooperative mode, compensates for that the precision as caused by baseline is too short is insufficient, successfully solve marine vessel form into columns in high-precision mutually positions between each naval vessel technical problem.
Description
Technical field
The invention belongs to radio-positioning fields, more particularly to a kind of naval vessel based on TDOA (step-out time) principle to form into columns
Precise Position System and method.
Background technique
It is extremely important that the location information on each naval vessel and mutual precise positional relationship in naval vessel formation are grasped in real time, this
On the one hand commanding and decision-making person can be allowed to understand marine transportation or naval battle field situation, on the other hand this accurate geometrical relationship is war
The precondition of fusion treatment is carried out under the environment of field to multi-class targets information.At present ship position and mainly utilizes GNSS system
System, GLONASS, the Galileo in Europe of GPS, Russia including the U.S. etc., the Beidou Navigation System in China has also been covered completely
The lid Asian-Pacific area has the positioning accuracy of sub-meter grade.
However, the important, fatal equipment the easy to be under attack or makes in complicated modernization information environment
About, a certain technology or equipment can not be relied only on, also needs the back-up system independent of GNSS in naval vessel formation to obtain
Zonal naval vessel is taken to form into columns the real-time precise positional relationship between each naval vessel.
Under the conditions of at sea naval vessel is formed into columns, the installation site of 4 signal receiving antennas of optional TDOA data collection station
It is only the deck platform on single measuring center station naval vessel.Since ship deck geometric dimension and space are very limited, this is just led
Cause the baseline between the signal receiving point of TDOA acquisition station very short (10~100 meters), (TDOA is fixed using conventional positioning using TDOA
Position) technology is not able to satisfy positioning accuracy request.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of naval vessel formation Precise Position System based on TDOA principle
And method, the system are to be greatly improved positioning accuracy based on the new positioning system of TDOA principle under cooperative mode, compensated for
The precision as caused by baseline is too short is insufficient, successfully solves the technical problem that high-precision mutually positions between each naval vessel.
The technical scheme to solve the above technical problems is that
In a first aspect, the present invention provides a kind of naval vessel formation Precise Position System based on TDOA principle, including determined
First time frequency source, single-channel receiver and the receiving antenna being connect with single-channel receiver, first installed on the naval vessel of position
Wireless communication machine and the first dual-mode antenna being connect with the first wireless communication machine；The first time frequency source and
One wireless communication machine is all connected with single-channel receiver；
The second temporal frequency source for being installed on central station naval vessel, including at least three receiving channels multichannel receiver and
The receiving antenna that is connect with each receiving channel, second wireless network communication equipment and connect with second wireless network communication equipment
Two dual-mode antennas, central control system；Second temporal frequency source, second wireless network communication equipment and central control system are equal
Connecting multi-channel receiver；The central control system is connected with second wireless network communication equipment；
First dual-mode antenna is received with the receiving antenna of each receiving channel of multichannel receiver, single channel respectively
The receiving antenna of machine and the coupling of the second dual-mode antenna.
Second aspect, the present invention provides a kind of naval vessel formation accurate positioning method based on TDOA principle, this method base
In formation Precise Position System in naval vessel described above, comprising steps of
Wireless beacon signal is emitted by the first dual-mode antenna by the first wireless communication machine on positioning naval vessel；
The wireless beacon signal is received and processed by the single-channel receiver on positioning naval vessel, generates band timestamp and day
The I/Q data of line coding stamp, and the second dual-mode antenna on central station naval vessel is emitted to by the first dual-mode antenna, and pass through the
Two wireless communication machines are transferred to central control system；
Each channel reception of multichannel receiver on central station naval vessel simultaneously handles the wireless beacon signal, each self-generating
With the I/Q data that timestamp and day line coding stab, and it is transferred to central control system；
The IQ that each channel for the I/Q data and multichannel receiver that central control system generates single-channel receiver generates
Data distinguish each one group of I/Q data of self-forming；According to TDOA principle, by the cross-correlation function of signal step-out time from each group IQ number
The each group signal time difference is calculated in, and is calculated separately according to each group signal time difference and arrived by the first dual-mode antenna on positioning naval vessel
The linear distance of each receiving antenna of multichannel receiver on central station naval vessel；
According to the coordinate of any Third Mate's receiving antenna of multichannel receiver and its distance between and the Third Mate day
Line to by the linear distance between the first dual-mode antenna on positioning naval vessel, is determined by positioning naval vessel relative to central station warship respectively
The coordinate and angle on the bow of ship.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
The the first wireless communication machine installed on by positioning naval vessel emits wireless beacon letter by the first dual-mode antenna
Number, which is received and processed by the multichannel receiver on the single-channel receiver and central station naval vessel on positioning naval vessel
Signal is marked, generates at least 3 groups of I/Q datas that additional time, stamp was stabbed with day line coding, and be transferred to central control system；Wherein, single
The I/Q data that the I/Q data that channel receiver generates is generated with each channel of multichannel receiver respectively distinguishes each self-forming one
Group I/Q data；Central control system calculates from multiple groups I/Q data received by first on positioning naval vessel respectively according to TDOA principle
The linear distance for sending out each receiving antenna of multichannel receiver on antenna to central station naval vessel, can be only using this multiple range data
One ground determines the angle on the bow by positioning naval vessel relative to the coordinate on positioning naval vessel and by positioning naval vessel relative to positioning naval vessel, positioning
Precision depend on this multiple distance value measurement accuracy, due to the first time frequency source and second temporal frequency source
For frequency source synchronization time, single-channel receiver and multichannel receiver are realized on time, AD sample rate and frequency source
Accurate consistency, to guarantee to obtain the higher time difference and range measurement accuracy by cross-correlation calculation；Simultaneously because positioning warship
Each receiving device uses multichannel receiver on ship, and each receiving channel shares the second temporal frequency source, therefore in time and frequency
It is in the same direction to ensure that the range measurement error by each receiving point on launch point on positioning naval vessel to positioning naval vessel has for upper no error
Property and data consistency, without causing the angle deviating of direction finding line to lead to biggish deviations, to realize high-precision
Location Calculation.
This system using naval vessel form into columns itself use data-link communication i.e. the first wireless communication machine and first receive and dispatch
Antenna measures required beacon signal to generate TDOA, is not required to special equipment to emit wireless beacon signal, greatly saves
Expense and device resource.
And the prior art is compared than the progress angle measurement of the angle measuring systems such as phase angle measurement, phased-array radar angle measurement and positioning, this is
System uses TDOA principle, positioning accuracy and not related, the angle measurement at a distance from by positioning naval vessel of central station naval vessel to naval vessel
Precision reaches 0.04 degree, and the remote positioning accuracy up at 40km reaches m grades, existing to be difficult to reach than phase, phased-array radar angle measurement technique
It arrives.
Detailed description of the invention
Fig. 1 is one systematic schematic diagram of the embodiment of the present invention；
Geometrical relationship schematic diagram of the Fig. 2 between each antenna of the embodiment of the present invention two.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
Embodiment one
The present invention forms into columns for marine vessel to pinpoint application demand, devises a kind of tool based on TDOA principle
There is autonomous, collaborative work mode high precision wireless positioning system.It is so-called " autonomous " to refer to by positioning naval vessel active emission parameter
The wireless beacon signal of specification is this system according to positioning accuracy for the type and parameter of the TDOA radio signal calculated
It is required that independently provide, generate and emit；So-called " collaboration " refers to by the wireless transmission and central station naval vessel on positioning naval vessel
Wireless receiving is to cooperate, and the work such as subsequent data transmission, cross-correlation calculation are also by Row control and coordinated implementation.
As shown in Figure 1, the present invention mainly uses GNSS system for current autonomous accurate positioning, proposes one kind and be based on
The naval vessel formation Precise Position System of TDOA principle, the system are with the real-time to naval vessel position, high-precision of TDOA principle design
The system of measurement is spent, which includes being positioned the first time frequency source, single-channel receiver and and single-pass installed on naval vessel
Receiving antenna, the first wireless communication machine and the first transmitting-receiving being connect with the first wireless communication machine of road receiver connection
Antenna；The first time frequency source and the first wireless communication machine are all connected with single-channel receiver；
The second temporal frequency source for being installed on central station naval vessel, including at least three receiving channels multichannel receiver and
The receiving antenna that is connect with each receiving channel, second wireless network communication equipment and connect with second wireless network communication equipment
Two dual-mode antennas, central control system；Second temporal frequency source, second wireless network communication equipment and central control system are equal
Connecting multi-channel receiver；The central control system is connected with second wireless network communication equipment.
The receiving antenna connecting with each receiving channel of multichannel receiver is laid in central station naval vessel respectively
Four corners position；Receiving antenna, single channel of first dual-mode antenna respectively with each receiving channel of multichannel receiver connect
The receiving antenna of receipts machine is coupled with the second dual-mode antenna.
In the present embodiment, each receiving channel of the single-channel receiver and multichannel receiver includes successively connecting
Radio frequency preprocessor, the first frequency mixer, the second frequency mixer, intermediate frequency signal processor and the digital signal processor connect.By receiving
After the received radiofrequency signal of antenna enters receiver, low noise amplification and bandpass filtering are carried out to it by radio frequency preprocessor, passed through
The two-stage down coversion of first frequency mixer and the second frequency mixer, signal are converted to the fixed intermediate frequency segment limit of receiver, then by
Intermediate frequency signal processor carries out intermediate frequency amplification and filtering, obtains the good analog if signal of signal-to-noise ratio, then by digital signal
It manages device and A/D sampling, Digital Down Convert and digital filtering is carried out to analog if signal, can be obtained the road I/Q baseband digital signal,
Receive the I/Q data of signal.
In the present embodiment, it the receiving antenna being connect with single-channel receiver and is connect with each of multichannel receiver
It receives channel attached receiving antenna and is all made of high-gain omni-directional antenna, in the present embodiment, the multichannel receiver can be four
Channel receiver, the receiving antenna connecting with each receiving channel of the four-way receiver are laid in central station naval vessel respectively
Four corners position.Distance between four pairs of antennas on central station naval vessel is away as far as possible, to promote the baseline length of TDOA,
Since the facilities such as bridge block on deck, as long as can guarantee in multichannel receiver has Third Mate's receiving antenna that can effectively receive letter
Number, it can uniquely determine and calculate by the position coordinates on positioning naval vessel.Simultaneously as each receiving device on central station naval vessel
Using multichannel receiver, each receiving channel shares the second temporal frequency source, therefore guarantees over time and frequency without error
Had by the range measurement error of each receiving point on launch point on positioning naval vessel to positioning naval vessel with tropism and data consistency,
Angle deviating without leading to direction finding line leads to biggish deviations, to realize high-precision location Calculation.
The first time frequency source and second temporal frequency source are existing communication system synchronization time on naval vessel
Frequency source.The first time frequency source by positioning naval vessel provides temporal frequency source, central station warship for single-channel receiver
The second temporal frequency source on ship provides temporal frequency source for multichannel receiver, and the timing tracking accuracy of the two is 10ns, real
The existing accurate correspondence of single-channel receiver and multichannel receiver on time, AD sample rate and frequency source, to guarantee logical
It crosses cross-correlation calculation and obtains the higher time difference and range measurement accuracy.
By the first wireless communication machine on positioning naval vessel and the first transmitting-receiving day being connect with the first wireless communication machine
The wireless beacon signal of line transmitting agreement, the wireless beacon signal are the number of fixed frequency, big bandwidth, high s/n ratio, timing gap
Modulated signal, and band naval vessel identifies in beacon；Positioned at by the single-channel receiver on positioning naval vessel and on central station naval vessel
Multichannel receiver each channel reception and handle this signal, generate the I/Q data stabbed with timestamp and day line coding,
Then it is transferred on the central control system on central station naval vessel using Radio Network System.Central control system is utilized and is connect
This multiple groups I/Q data received, so that it may which the transmitting antenna for calculating separately out single-channel receiver respectively receives day to multichannel receiver
The linear distance of line, using this multiple range data can uniquely determine by positioning naval vessel relative to positioning naval vessel coordinate and by
Position angle on the bow of the naval vessel relative to positioning naval vessel.
Based on the same inventive concept, this application provides the corresponding method of embodiment one, detailed in Example two.
Embodiment two
Corresponding to embodiment one, a kind of naval vessel formation accurate positioning method based on TDOA principle is present embodiments provided,
This method based on formation Precise Position System in naval vessel described above, comprising steps of
Wireless beacon signal is emitted by the first dual-mode antenna by the first wireless communication machine on positioning naval vessel；
The wireless beacon signal is received and processed by the single-channel receiver on positioning naval vessel, generates band timestamp and day
The I/Q data of line coding stamp, and the second dual-mode antenna on central station naval vessel is emitted to by the first dual-mode antenna, and pass through the
Two wireless communication machines are transferred to central control system；
Each channel reception of multichannel receiver on central station naval vessel simultaneously handles the wireless beacon signal, each self-generating
With the I/Q data that timestamp and day line coding stab, and it is transferred to central control system；
The IQ that each channel for the I/Q data and multichannel receiver that central control system generates single-channel receiver generates
Data distinguish each one group of I/Q data of self-forming；According to TDOA principle, each group letter is calculated from each group I/Q data by cross-correlation function
It number time difference, calculates separately by each reception day of multichannel receiver on the first dual-mode antenna to central station naval vessel on positioning naval vessel
The linear distance of line；
According to the coordinate of any Third Mate's receiving antenna of multichannel receiver and its distance between and the Third Mate day
Line to by the linear distance between the first dual-mode antenna on positioning naval vessel, is determined by positioning naval vessel relative to central station warship respectively
The coordinate and angle on the bow of ship.
In the present embodiment, two receivers are by calculating two receiver to same beacon signal step-out time (TDOA)
The extreme value of the cross-correlation function of two signals exported respectively after the signal is received to obtain.
If x (t), y (t) are that signal receiver 1,2 receives the signal exported when beacon signal, the cross-correlation function of two signals
Rxy (t) are as follows:
Rxy(τ)=E [x (t) y (t+ τ)]=ARss(τ-D)
In formula, τ is the variable for measuring cross correlation measure, and D is the true of the step-out time that receiver 1,2 receives same beacon signal
Value；According to the property Rss (t) of auto-correlation function≤Rss (0), when cross-correlation function Rxy (t) obtains maximum value, τ=D.
The coordinate of antenna B1, B2, B4 on central station naval vessel are had chosen in the present embodiment, and by the day on positioning naval vessel
The coordinate of line D, geometrical relationship schematic diagram between each antenna is as shown in Fig. 2, in figure, Lb1-b2、Lb2-b4、Lb1-b4Distance value can be used
The actual measurement of the measuring tools such as two-frequency laser interferometer obtains, relative accuracy up to 1/1000000, range measurement error be 0.1mm~
0.01mm (baseline length for respectively corresponding antenna 100m~10m), this error is to by the coordinate D (x on positioning naval vesseld,yd) calculate
Error influence very little, can be neglected, the coordinate B1 (x after establishing coordinate systemb1,yb1)、B2(xb2,yb2)、B4(xb4,yb4) i.e.
It can determine.
To by the coordinate D (x on positioning naval vesseld,yd) measurement accuracy depend primarily on Lb1-d、Lb2-d、Lb4-dThe survey of distance value
Accuracy of measurement.Lb1-d、Lb2-d、Lb4-dDistance value by the signal I/Q data that is acquired from antenna D respectively with acquired from antenna B1, B2, B4
The I/Q data for the same signal that the first dual-mode antenna connected from the first wireless communication machine issues carries out cross-correlation calculation and obtains
?.
Lb1-d、Lb2-d、Lb4-dThe measurement error of distance value include by two data acquisition equipments for cross-correlation calculation it
Between time synchronization error caused by measurement error and by signal step-out time cross-correlation calculation generate measurement error two parts:
(1) not physically connected between naval vessel and central station naval vessel due to being measured, using communication system existing on naval vessel
Synchronization time frequency source, the currently practical maximum time synchronous error of the two be 10ns, the range measurement of maximum 3m can be caused to miss
Difference.This error is for Lb1-d、Lb2-d、Lb4-dThe measurement of distance can not be eliminated, but due to signal receiving antenna B1, B2, B4
Each receiving channel share the second temporal frequency source, so antenna B1, B2, B4 receive the time error of same signal and thus produce
Raw Lb1-d、Lb2-d、Lb4-dRange measurement error is value completely in the same direction, same, therefore to by the coordinate D (x on positioning naval vesseld,yd)
Measurement will not generate direction sexual deviation and lead to big location error, can only be in x or y to generating the maximum position for being no more than 3 meters
Error.
(2) since the present embodiment is to calculate L based on TDOA principleb1-d、Lb2-d、Lb4-dDistance, because of Lb1-d、Lb2-d、
Lb4-dNon-correlation between distance, can not eliminate, and the error of very little is that can lead to the offset of measurement direction, to D (xd,yd) determine
The influence of position precision is very big (especially to remote ship location).
The cross-correlation function computational accuracy limit formula of signal step-out time (TDOA) are as follows:
In formula, B is the equivalent bandwidth of signal, and S is power ratio of the signal to noise, and T is the signal for cross-correlation calculation
Sample duration.As it can be seen that signal bandwidth is wider, signal time is longer, signal-to-noise ratio is higher, the time difference computational accuracy that can be obtained is got over
It is high.
For this purpose, the wireless beacon signal emitted in the present embodiment uses big bandwidth (30MHz), high s/n ratio (50dB or more)
Wideband digital signal, the frequency accuracy of receiver is very high (up to 1 × 10-11), digital signal processing appts in receiver
A/D sample rate is up to 5GHz, so that time difference computational accuracy has been reached 10ps grades, Lb1-d、Lb2-d、Lb4-dDistance value measurement accuracy reaches
It mm grades, adjusts the distance up to the naval vessel coordinate D (x of 40kmd,yd) x or y to coordinate position measurement error be less than 10mm.Therefore with it is existing
It is compared than angle measuring systems such as phase angle measurement, phased-array radar angle measurements, this system uses TDOA principle, to the positioning accuracy on naval vessel in
It adjusts the distance and reaches m grades up to the remote ship location precision of 40km, by changing to not related by the distance on positioning naval vessel in center station naval vessel
Calculate the angle measurement accuracy obtained and reach 0.04 degree, greatly improve positioning accuracy, compensate for as TDOA baseline it is too short caused by essence
Degree is insufficient, successfully solves the technical problem that high-precision mutually positions between each naval vessel in naval vessel formation.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of naval vessel formation Precise Position System based on TDOA principle, which is characterized in that including being installed on positioning naval vessel
First time frequency source, single-channel receiver and the receiving antenna being connect with single-channel receiver, the first wireless communication
Machine and the first dual-mode antenna being connect with the first wireless communication machine；The first time frequency source and the first wireless network are logical
Letter machine is all connected with single-channel receiver；
The second temporal frequency source for being installed on central station naval vessel, including at least three receiving channels multichannel receiver and with it is every
Receiving antenna, second wireless network communication equipment and the second receipts being connect with second wireless network communication equipment of a receiving channel connection
Send out antenna, central control system；Second temporal frequency source, second wireless network communication equipment and central control system are all connected with
Multichannel receiver；The central control system is connected with second wireless network communication equipment；
First dual-mode antenna respectively with the receiving antenna of each receiving channel of multichannel receiver, single-channel receiver
Receiving antenna and the coupling of the second dual-mode antenna.
2. the naval vessel formation Precise Position System according to claim 1 based on TDOA principle, which is characterized in that it is described with
The receiving antenna of single-channel receiver connection and the receiving antenna connecting with each receiving channel of multichannel receiver are all made of
High-gain omni-directional antenna.
3. the naval vessel formation Precise Position System according to claim 1 based on TDOA principle, which is characterized in that the list
Each receiving channel of channel receiver and multichannel receiver includes sequentially connected radio frequency preprocessor, the first mixing
Device, the second frequency mixer, intermediate frequency signal processor and digital signal processor.
4. the naval vessel formation Precise Position System according to any one of claim 1 to 3 based on TDOA principle, feature
It is, the multichannel receiver is four-way receiver, described to connect with what each receiving channel of four-way receiver was connect
Receive the four corners position that antenna is laid in central station naval vessel respectively.
5. a kind of naval vessel formation accurate positioning method based on TDOA principle, which is characterized in that this method be based on claim 1 to
Formation Precise Position System in naval vessel described in any one of 4, comprising steps of
Wireless beacon signal is emitted by the first dual-mode antenna by the first wireless communication machine on positioning naval vessel；
The wireless beacon signal is received and processed by the single-channel receiver on positioning naval vessel, band timestamp is generated and antenna is compiled
The I/Q data of code stamp, and the second dual-mode antenna on central station naval vessel is emitted to by the first dual-mode antenna, and pass through the second nothing
Gauze network communication equipment is transferred to central control system；
Each channel reception of multichannel receiver on central station naval vessel simultaneously handles the wireless beacon signal, when each self-generating band
Between stamp and day line coding stamp I/Q data, and be transferred to central control system；
The I/Q data that each channel for the I/Q data and multichannel receiver that central control system generates single-channel receiver generates
Each one group of I/Q data of self-forming respectively；According to TDOA principle, by the cross-correlation function of signal step-out time from each group I/Q data
The each group signal time difference is calculated, and is calculated separately according to each group signal time difference by the first dual-mode antenna on positioning naval vessel to center
It stands the linear distance of each receiving antenna of multichannel receiver on naval vessel；
According to the coordinate of any Third Mate's receiving antenna of multichannel receiver and its distance between and Third Mate's antenna point
It is clipped to by the linear distance between the first dual-mode antenna on positioning naval vessel, determines by positioning naval vessel relative to central station naval vessel
Coordinate and angle on the bow.
6. the naval vessel formation accurate positioning method according to claim 5 based on TDOA principle, which is characterized in that the nothing
Line beacon signal is the digital modulation signals of fixed frequency, big bandwidth, high s/n ratio, timing gap, and band naval vessel identifies in beacon.
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| CN113030587A (en) * | 2021-02-08 | 2021-06-25 | 明峰医疗系统股份有限公司 | Alternate sampling type FPGA-ADC system, alternate sampling method thereof and PET system |
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