CN109613583A - The passive object localization method of the time difference is surveyed based on the direction finding of Dan Xingyu earth station and joint - Google Patents
The passive object localization method of the time difference is surveyed based on the direction finding of Dan Xingyu earth station and joint Download PDFInfo
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The invention belongs to electronic countermeasure technology fields, and in particular to a kind of passive object localization method that the time difference is surveyed based on the direction finding of Dan Xingyu earth station and joint.The present invention is directed to the positioning scene of aerial target radiation source, target emanation source signal is measured respectively by single star and earth station reaches respective direction cosines angle, and target emanation source signal arrives separately at the time difference of satellite and surface-based observing station, pass through the pseudo- linearization process to direction cosine angle and merged time difference measurement equation, provides the weighted least-square solution analysis solution of target position.Positioning solution fuzzy problem, the mean square error programmable single-chip system CramerRao lower limit of position error is not present in the achievable instantaneous high accuracy positioning of single in this method.
Description
Technical Field
The invention belongs to the technical field of electronic countermeasure, and particularly relates to a passive target positioning method based on single-satellite and ground station direction finding and combined time difference measurement.
Background
On one hand, in a modern electronic information combat system, by utilizing an electronic reconnaissance means, electromagnetic wave signals from enemy combat units are measured, analyzed, sorted and identified to obtain information such as strategic deployment and platform types of the enemy combat units, so that important reference values are provided for strategic decision making on the high level of our party, protection of the enemy combat units and strategic attack on the enemy. The passive reconnaissance positioning technology has the advantages of good concealment, long acting distance, high anti-interference capability, high system safety protection performance and the like, occupies an increasingly important position in an electronic reconnaissance system, and has been valued by the military of various countries.
On the other hand, with the development of the aerospace technology and the breakthrough of the satellite-borne surveillance technology, the passive surveillance positioning increasingly depends on the electronic surveillance satellite, the single-satellite passive positioning system only uses one observation satellite to realize the ground radiation source positioning, and has the advantages of low cost, flexible positioning system and the like. At present, a single-satellite passive positioning method based on a kinematics principle obtains relatively high positioning accuracy through information such as the change rate of the arrival angle of a target radiation source signal, the change rate of Doppler frequency and the like, but multiple times of observation are needed, and instantaneous single-satellite high-accuracy positioning cannot be realized.
Disclosure of Invention
The invention aims to solve the problems and provides a passive target positioning method based on single-satellite and ground station direction finding and combined time difference measurement. Aiming at a positioning scene of an aerial target radiation source, respectively measuring the cosine angles of the directions from which target radiation source signals reach the single satellite and the ground station, and the time difference from the target radiation source signals to the satellite and the ground observation station, respectively, and giving a weighted least square analytic solution of a target position by performing pseudo-linear processing on the cosine angles of the directions and fusing a time difference measurement equation. The method can realize single instantaneous high-precision positioning, has no positioning ambiguity problem, and the mean square error of the positioning error can approach the Cramer-Rao lower limit (CRLB).
And giving a weighted least square analytic solution of the target radiation source under condition constraint through pseudo linearization of a direction-finding equation and fusion of WGS-84 ellipsoid constraint. The method can uniformly realize positioning solution of the target when the double satellites are in the same orbit and in different orbits, the satellite configuration is flexible under the positioning method, iterative solution is not needed, the calculated amount is small, and the problem of positioning solution ambiguity does not exist.
The technical scheme adopted by the invention is as follows:
according to the method, cosine angles of directions of target radiation source signals reaching the single satellite and the ground station and time differences of the target radiation source signals reaching the satellite and the ground observation station are measured respectively, and a weighted least square analytic calculation formula of a target position is given through algorithm derivation. The localization model is shown in fig. 1. In the figure, the position of the satellite is x recorded under the earth-fixed coordinate system ECEFS,e＝[xs,e,ys,e,zs,e]TThe position of the ground observation station is xr,e＝[xr,e,yr,e,zr,e]TThe position of the target radiation source is xT,e＝[xt,e,yt,e,zt,e]T. In the system b of the star coordinate system, the position of the target radiation source is xT,b＝[xt,b,yt,b,zt,b]TFrom document [1 ]]It can be known that, in the satellite-borne direction finding positioning system, the following coordinate transformation relationship exists: x is the number ofT,b＝M(xS,e-xT,e) The concrete expression is
Which comprises the following steps: satellite xS,eCorresponding subsatellite point latitude B in geodetic coordinate systemSAnd longitude LSAnd by satellite xS,eThe satellite-borne attitude sensor outputs several angle information: yaw angle psi, pitch angle theta, roll angle phi. Simultaneously, in the formula:
the invention mainly comprises the following steps:
a. respectively measuring the cosine angles of the directions from which the target radiation source signals reach to the single satellite and the ground station and the time difference between the target radiation source signals reach to the satellite and the ground observation station;
b. establishing a target positioning model by performing pseudo-linear processing on the direction cosine angles and fusing time difference measurement equations with the pseudo-linear processing;
c. and (c) solving the model established in the step (b) by adopting a weighted least square method to obtain the target position.
Specifically, in the step a, the invention is based on the following principle:
the various observations of the positioning system can be expressed as follows:
A. single-star measurement target radiation source signal arrival direction cosine angle α1 and β1The expression of the measured value is:
in the formula：Dx＝[1,0,0]，Dy＝[0,1,0]，Dz＝[0,0,1]，Respectively represent direction cosine angles α1 and β1The true value of (a) is,andrespectively, representing the measurement error thereof. Meanwhile, the method comprises the following steps:
in the formula：representing true values of direction cosine angles, gamma1Represented by a direction cosine angle α1 and β1The resulting direction cosine angle is calculated.
B. Ground observation station measures direction cosine angle α that target radiation source signal arrived2 and β2The expression of the measured value is:
similarly, in the formula:respectively represent direction cosine angles α2 and β2True value of nα2 and nβ2Respectively represent the measurement error, and simultaneously, the following are:
in the formula：representing true values of direction cosine angles, gamma2Representative by azimuth α2And pitch angle β2The resulting direction cosine angle is calculated.
C. Converting the time difference measurement value into a distance difference, and then expressing the measurement value as follows:
ρ＝ρ0+nρ
＝dt,s-dt,r+nρ
＝||(xT,e-xS,e)||-||(xT,e-xr,e)||+nρ
in the formula：nρIs the range difference measurement error converted from the time difference measurement error.
The positioning of the target radiation source is converted into the problem of solving the position of the target radiation source by utilizing the multiple groups of nonlinear equations, and from the basic principle of geometric positioning, a space positioning line formed by direction finding, a space positioning hyperboloid formed by time difference measurement, line-line intersection and line-surface intersection are obtained to determine the weighted least square solution of the target.
In the step b, the method specifically adopted by the invention is as follows:
a) from the above formula A:
namely:
according to the first-order Taylor series expansion principle, the following can be obtained:
the finishing is carried out to obtain:
b) from the above formula A:
the following can be obtained:
according to the first-order Taylor series expansion principle, the following can be obtained:
the finishing is carried out to obtain:
c) from the above formula B:
the same can be obtained:
d) from the above formula B:
the same can be obtained:
e) from the above A, B formula:
in the formula,
then the finishing can be as follows:
in the formulaui，Ci，ni(i ═ 1,2) see the following expression:
then, in summary, we can obtain:
b-AxT,e＝Nn
wherein ,
thus, a weighted least squares solution for the target radiation source can be obtained as:
wherein Q ═ cov (Nn) ═ NWNTRecording:is the covariance matrix of the noise. Since the matrix N contains the target position to be obtained, the method is firstly to solve the least square solution of the targetGiving out the target position required in the matrix N to obtain the matrix N, and further obtaining the weighted least square solution of the target radiation source
By combining the scheme, the method provided by the invention is subjected to the following error analysis:
the influence factors of the positioning precision of the system for positioning the air target radiation source mainly include the direction-finding error of the satelliteDirection finding error of ground stationAnd time difference measurement error nρIn the following, the Clarmer-Rao lower limit (CRLB) of the positioning error in the presence of these three measurement errors is analytically calculated and from this a Geometric Distribution (GDOP) diagram of the positioning error is given. The specific expression of the measurement equation of the system is as follows:
let the parameter vector bexT,eThe system observation equation is then related to the target position vector xT,eJacobian matrix ofThe method specifically comprises the following steps:
let the covariance matrix of the measurement noise be:the theoretical accuracy bound of the target positioning error is obtained as follows:
CRLB(xT,e)＝GTW-1G
the method has the advantages that the auxiliary observation information of the ground station is introduced, the positioning system based on the conventional satellite passive positioning is subjected to auxiliary optimization, the space-ground combined passive positioning is realized, the advantages of passive positioning and space electronic satellite reconnaissance are achieved, and the precision and the real-time performance of target positioning and tracking are improved.
Drawings
FIG. 1 is a diagram of a positioning model for two-star direction finding positioning based on the WGS-84 model;
FIG. 2 is a GDOP plot of positioning error;
FIG. 3 is a simulation diagram of the variation of positioning resolving errors with the direction-finding errors of satellites;
FIG. 4 is a simulation diagram of the variation of the positioning resolving error with the direction-finding error of the ground station;
FIG. 5 is a simulation diagram of the variation of positioning calculation error with time difference measurement error.
Detailed Description
The following verification and explanation of the above positioning method with reference to the drawings first make the following reasonable assumptions on the system model:
1. assuming that the satellite is a low orbit satellite, the orbit altitude is relatively low, typically 500km to 1000 km;
2. unifying satellite attitude measurement errors existing in engineering practice into satellite direction finding errors;
3. the measurement errors are assumed to follow a gaussian distribution with a mean value of zero, and the errors are independent of each other.
(1) GDOP map of positioning error:
as shown in FIG. 2, assume that the orbit height of a single star is HSThe longitude and the latitude of the corresponding satellite subsatellite point are respectively (L) 800kmS,BS) The star point is marked in the figure (103 °,37 °). The longitude and latitude of the ground observation station are respectively (L)r,Br) See the triangle-shaped dot notation in the figure (100 °,34 °). Error of direction finding of satelliteThe root mean square error is set to be 0.1 DEG, and the direction-finding error of the ground stationThe root mean square error is set to 0.5 DEG, and the time difference measurement error nρThe size of the root mean square error is set to be 10us, and a GDOP diagram for positioning and resolving the single-satellite and ground station direction finding and joint time difference measuring is obtained through simulation.
As can be seen from the upper graph, the GDOP graph of the positioning errors is approximately symmetrically distributed about the intersatellite point of a single star, has certain deformation and deflection in local parts, and is stably distributed in a wide longitude and latitude range.
Set the orbit height of a single star to be HSThe longitude and the latitude of the corresponding satellite subsatellite point are respectively (L) 800kmS,BS) As (103 °,37 °) ground observationThe longitude and latitude of the station are respectively (L)r,Br) The latitude and longitude of the earth surface target radiation source is (L) 100 deg., 34 deg. respectivelyt,Bt) At (102 deg., 36 deg.), the target radiation source is at about 300km from the ground observation station. The satellite, ground station and target location in the simulations below are all set as described above.
(2) Influence of satellite direction finding error:
as shown in fig. 3, the direction-finding error of the ground station is determinedThe root mean square error is set to 1 DEG, and the time difference measurement error nρThe root mean square error of (2) is set to 10us, and the direction-finding error of the satellite is setThe size of the root mean square error is changed from 0.1 degree to 2.5 degrees, positioning simulation calculation is carried out, and the change of the positioning calculation error along with the direction finding error of the satellite is obtained.
(3) Influence of ground station direction finding error:
error of direction finding of satelliteThe root mean square error is set to 0.3 DEG, and the time difference measurement error nρThe root mean square error of (2) is set to 10us, and the direction-finding error of the ground station is setThe size of the root mean square error is changed from 0.1 degree to 3.1 degrees, positioning simulation calculation is carried out, and the change of the positioning calculation error along with the direction-finding error of the ground station is obtained.
(4) Influence of time difference measurement error:
error of direction finding of satelliteHas large root mean square errorSmall set to 0.3 deg., direction error of ground stationIs set to 1 DEG, the time difference measurement error n is setρThe size of the root mean square error is changed from 1us to 31us, positioning simulation calculation is carried out, and the change of the positioning calculation error along with the error measurement error is obtained.
As can be seen from fig. 3, 4, 5, the solution proposed herein can well approximate CRLB, only slightly deviating from CRLB by about 0.1km after measurement errors are too large.
Claims (4)
1. The passive target positioning method based on single-satellite and ground station direction finding and combined time difference measurement is characterized by comprising the following steps of:
a. respectively measuring the cosine angles of the directions from which the target radiation source signals reach to the single satellite and the ground station and the time difference between the target radiation source signals reach to the satellite and the ground observation station;
b. establishing a target positioning model by performing pseudo-linear processing on the direction cosine angles and fusing time difference measurement equations with the pseudo-linear processing;
c. and (c) solving the model established in the step (b) by adopting a weighted least square method to obtain the target position.
2. The passive target positioning method based on single-satellite and ground station direction finding and combined time difference measurement according to claim 1, wherein the specific method of the step a is as follows:
set the position of the satellite as x under the earth fixed coordinate system ECEFS,e＝[xs,e,ys,e,zs,e]TThe position of the ground observation station is xr,e＝[xr,e,yr,e,zr,e]TThe position of the target radiation source is xT,e＝[xt,e,yt,e,zt,e]TIn the system b of the star coordinate system, the position of the target radiation source is xT,b＝[xt,b,yt,b,zt,b]TIn the satellite-borne direction finding positioning system, the following coordinate transformation relationship is provided: x is the number ofT,b＝M(xS,e-xT,e), wherein Including satellite xS,eCorresponding subsatellite point latitude B in geodetic coordinate systemSAnd longitude LSAnd by satellite xS,eThe satellite-borne attitude sensor outputs several angle information: yaw angle ψ, pitch angle θ, roll angle Φ:
a1, measuring the arrival direction cosine angle α of target radiation source signal by single star1 and β1：
in the formula：Dx＝[1,0,0]，Dy＝[0,1,0]，Dz＝[0,0,1]，Respectively represent direction cosine angles α1 and β1The true value of (a) is,andrespectively representing the measurement errors;
order to
in the formula：representing true values of direction cosine angles, gamma1Represented by a direction cosine angle α1 and β1Calculating the direction cosine angle obtained by the measured value;
a2, measuring the arrival direction cosine angle α of the target radiation source signal by the observation station2 and β2：
in the formula：respectively represent direction cosine angles α2 and β2The true value of (a) is,andrespectively representing the measurement errors;
order to
in the formula：representing true values of direction cosine angles, gamma2Representative by azimuth α2And pitch angle β2Calculating the direction cosine angle obtained by the measured value;
a3, acquiring time differences of target radiation source signals respectively reaching a satellite and a ground observation station, and converting the time difference measurement value into a distance difference:
ρ＝||(xT,e-xS,e)||-||(xT,e-xr,e)||+nρ
in the formula：nρIs the range difference measurement error converted from the time difference measurement error.
3. The passive target positioning method based on single-satellite and ground station direction finding and combined time difference measurement as claimed in claim 2, wherein the specific method of step b is as follows:
b1, pseudo-linearizing the direction cosine angle obtained in the step a1 to obtain:
b2, pseudo-linearizing the direction cosine angle obtained in the step a2 to obtain:
b3, fusing a time difference measurement equation, and establishing a positioning model, which specifically comprises the following steps:
from the above pseudo-linearization equation
in the formulaui，Ci，niSee the following expression:
then the fusion yields:
b-AxT,e＝Nn
wherein ,
4. the passive target positioning method based on single-satellite and ground station direction finding and combined time difference measurement as claimed in claim 3, wherein the specific method of step c is as follows:
solving by adopting a weighted least square method to obtain a weighted least square solution of the target radiation source as follows:
wherein Q ═ cov (Nn) ═ NWNTRecording:a covariance matrix that is noise; the matrix N contains the position of the target to be solved, and the least square solution of the target is firstly usedGiving out the target position required in the matrix N to obtain the matrix N, and further obtaining the weighted least square solution of the target radiation source
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| CN110061801A (en) * | 2019-04-25 | 2019-07-26 | 电子科技大学 | Abnormal object discrimination system and method in a kind of aerial surveillance systems |
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| CN111273223A (en) * | 2020-01-20 | 2020-06-12 | 西安交通大学 | Passive positioning countermeasure method based on double-antenna time delay |
| CN111308530A (en) * | 2020-02-17 | 2020-06-19 | 中国人民解放军战略支援部队信息工程大学 | Short wave multi-station and single-satellite cooperative direct positioning method based on two-dimensional direction of arrival |
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| CN112462328A (en) * | 2020-11-17 | 2021-03-09 | 安徽理工大学 | Weighting and orientation method based on sensor array arrival time difference measurement subset |
| CN112462328B (en) * | 2020-11-17 | 2024-01-26 | 安徽理工大学 | Weighted orientation method based on sensor array arrival time difference measurement subset |
| CN113189625A (en) * | 2021-04-29 | 2021-07-30 | 中国电子科技集团公司第三十六研究所 | Error correction method and device based on single-star interferometer direction finding system and satellite |
| CN113189625B (en) * | 2021-04-29 | 2024-05-14 | 中国电子科技集团公司第三十六研究所 | Error correction method and device based on single-satellite interferometer direction finding system and satellite |
| CN113642252A (en) * | 2021-08-31 | 2021-11-12 | 中国人民解放军国防科技大学 | Target positioning method and device based on single satellite, electronic equipment and medium |
| CN113642252B (en) * | 2021-08-31 | 2022-05-17 | 中国人民解放军国防科技大学 | Target positioning method and device based on single satellite, electronic equipment and medium |
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