CN109870673A - A kind of removable singly stand erectly based on Space-time domain Combined Treatment connects localization method - Google Patents
A kind of removable singly stand erectly based on Space-time domain Combined Treatment connects localization method Download PDFInfo
- Publication number
- CN109870673A CN109870673A CN201910187921.6A CN201910187921A CN109870673A CN 109870673 A CN109870673 A CN 109870673A CN 201910187921 A CN201910187921 A CN 201910187921A CN 109870673 A CN109870673 A CN 109870673A
- Authority
- CN
- China
- Prior art keywords
- time domain
- particle
- space
- optimum position
- indicate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of removable singly stand erectly based on Space-time domain Combined Treatment to connect localization method, reception signal data matrix and its covariance matrix of the system after G delay process at observation point are determined first, feature decomposition is carried out to covariance matrix, and calculate noise subspace, initial each particle is uniformly distributed in observation area, calculate average optimum position, the optimal value of the cost function of Space-time domain Combined Treatment direct location is found using quantum-behaved particle swarm optimization, the new position of particle is calculated according to displacement renewal equation, iteration to the difference between the value of global optimum position is no more than 0.001, using the optimum position of current particle as the optimal estimation value of target position.The present invention effectively increases the precision and resolution capability of location estimation, by increasing the freedom degree for receiving signal and improving aerial array in the delay tap of time domain, substantially increases the performance of location estimation.
Description
Technical field
The invention belongs to direction and location fields, are related to removable singly stand erectly of one kind and connect localization method.
Background technique
Removable mono-station location technology real-time and accurately can carry out orientation angular estimation to unfriendly target, location information is estimated
Meter, is widely used to military and civilian field.Inevitably it is related to multinomial positioning in the removable mono-station location method of tradition
The estimation problem of parameter needs first either a variety of to average informations such as DOA (direction of arrival), reaching time-difference, Doppler frequency shifts
Observation information, which combines, to be estimated, then carries out location estimation, and process is relatively complicated, and positioning accuracy is very poor, meanwhile, it is intermediate
The precision of parameter directly decides the performance of final localization method.
Using direct localization method, without directly parsing target position from observation data under conditions of parameter measurement.
The algorithm, which is avoided, to need first to carry out DOA estimation as conventional method and carries out location estimation again, calculate it is highly efficient, and
And there is higher positioning accuracy than conventional method.But direct localization method is just with the number in array antenna received airspace
It is believed that breath to be to carry out covariance operation, array element number is few, array received data sampling number of snapshots are smaller, incoming wave signal
In the lower situation of signal-to-noise ratio, the performance of location estimation be will be greatly reduced.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of removable based on Space-time domain Combined Treatment and singly stands erectly
Localization method is connect, it can sampling number of snapshots few in array element number, array received data be smaller, noise of incoming wave signal compares
In the case where low, it is ensured that the performance of location estimation does not decline.
The technical solution adopted by the present invention to solve the technical problems the following steps are included:
A) assume that antenna array elements number is M, number of source Q, and Q > M, incoming wave signal S (t) are narrow band signal, letter
Road noise N (t) is the additive white Gaussian noise that mean value is zero, and sampling number of snapshots are K, and airspace orientation vector is Al, be delayed tap
Number is G, and the time interval of delay process is τ, sampled data matrix v of the array in observation point l moment t- τ every timel=[v1
(t-τ),…,vM(t-τ)]T=AlS(t-τ)+N(t-τ)；
System passes through G delay process, and signal data matrix is received at observation point
In formula
AST-l(p)=[aST-l(P1), aST-l(P2) ..., aST-l(PQ)]∈CM×Q
fiIndicate incoming wave signal frequency, i=1,2 ..., Q, dmIndicate the distance of m-th of array element to reference point, m=1 ...,
M, aST-lIndicate Space-time domain orientation vector；
B) covariance matrix of collection of letters number is followed by by G delay process
C) feature decomposition is carried out to covariance matrix, and calculates noise subspace
Q in formulaSIt is characterized vector matrix, ∑SIndicate diagonal matrix,Indicate signal subspace,Indicate noise
Subspace；
D) initial each particle x is uniformly distributed in observation areai,j(0), allowing respective optimum position is Pi,j(0)=
xi,j(0)；Calculate average optimum position C (t)；
E) by the corresponding Space-time domain orientation vector a of each point in target areaST-l(x, y, z) is projected to noise subspace respectively
And sum, the cost function of Space-time domain Combined Treatment direct location
The optimal value of search cost function in monitoring region, finds cost function using quantum-behaved particle swarm optimization
Optimal value；
F) according to displacement renewal equationCalculate particle
New position, wherein
I indicates i-th of population；M indicates total number of particles；The dimension of j expression particle；The dimension of N expression search space；t
Indicate evolutionary generation；ui,j(t) andIt is equally distributed random number on [01] section；xi,j(t) position is indicated, most preferably
Position Pi,j(t) it indicates, pi,jIt (t) is attractor position；Gi,j(t) optimum position of group is indicated；C (t) indicates the flat of particle
Equal optimum position；α is expansion-contraction factor；
G) step (e), (f) are repeated, until the difference between the value of global optimum position is no more than 0.001, current grain
Optimal estimation value of the optimum position of son as target position.
The beneficial effects of the present invention are: being measured without intermediate parameters, target position is directly parsed from observation data, is had
Effect improves the precision and resolution capability of location estimation, receives signal by increasing and improves antenna array in the delay tap of time domain
The freedom degree of column substantially increases the performance of location estimation.
Detailed description of the invention
Fig. 1 is the direct localization method flow chart based on Space-time domain Combined Treatment；
Fig. 2 is that location model is intended to；
Fig. 3 is the block diagram of space-time combined signal processing；
Fig. 4 is that the method for the present invention is based on sky at Signal to Noise Ratio (SNR)=20, sampling number of snapshots k=512, time-domain taps G=3
The direct location spectrogram of time domain combined processing；
Fig. 5 is to be -5dB in signal power, the variation of the method for the present invention root-mean-square error and number of snapshots when time-domain taps are 3
Relationship；
Fig. 6 is that number of snapshots are 300, root-mean-square error of the method for the present invention under different signal-to-noise ratio when delay tap number is 3
Variation diagram.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, and the present invention includes but are not limited to following implementations
Example.
The present invention the following steps are included:
A) assume that antenna array elements number is M, number of source Q, and Q > M, incoming wave signal S (t) are narrow band signal, letter
Road noise N (t) is the additive white Gaussian noise that mean value is zero, and sampling number of snapshots are K, and airspace orientation vector is Al.Be delayed tap
Number is G, and the time interval of delay process is τ every time.Sampled data matrix of the array in observation point l moment t- τ can indicate
Are as follows:
vl=[v1(t-τ),…,vM(t-τ)]T=AlS(t-τ)+Nl(t-τ) (1)
System passes through G delay process, and each time interval is τ, then signal data matrix is received at observation point
Are as follows:
In formula
AST-l(p)=[aST-l(p1),aST-l(p2),…,aST-l(pQ)]∈CM×Q (4)
Wherein fi, i=1,2 ..., Q indicates incoming wave signal frequency.dm, m=1 ..., M indicates m-th of array element to reference point
Distance, aST-lIndicate Space-time domain orientation vector.
B) covariance matrix of collection of letters number is followed by by G rank delay process are as follows:
R in formulaSSFor the autocorrelation matrix of incoming signal,For Kronecker product, σ2Indicate noise power, I indicates unit
Matrix,For delay factors at different levels composition column vector, i.e.,
In the concrete realization, data covariance matrix sample covariance matrixInstead of that is,
C) feature decomposition is carried out to covariance matrix, and calculates noise subspace
Q in formulaSIt is characterized vector matrix, ∑SIndicate diagonal matrix,Indicate signal subspace,Indicate noise
Subspace.
D) initial each particle x is uniformly distributed in observation areai,j(0), allowing respective optimum position is Pi,j(0)=
xi,j(0), then average optimum position C (t) is calculated；
E) then by the corresponding Space-time domain orientation vector a of each point in target areaST-l(x, y, z) is respectively to noise subspace
It projects and sums, the cost function of Space-time domain Combined Treatment direct location are as follows:
The optimal value of search cost function, finds generation using quantum-behaved particle swarm optimization (QPSO) in monitoring region
The optimal value of valence function.Its cost function is calculated to each particle, if bigger than the average optimum position C (t-1) of last iteration
Just more new individual optimum position Pi,j(t)=xi,j(t)；If than the global optimum position G of last iterationi,j(t-1) greatly, just more
New overall situation optimum position Gi,j(t)=xi,j(t)；
F) the new position of particle, the displacement renewal equation of QPSO are calculated according to displacement renewal equation are as follows:
Wherein
I indicates i-th of population；M indicates total number of particles；The dimension of j expression particle；The dimension of N expression search space；t
Indicate evolutionary generation；ui,j(t) andIt is equally distributed random number on [0 1] section；xi,j(t) position is indicated, most preferably
Position Pi,j(t) it indicates, pi,jIt (t) is attractor position；Gi,j(t) optimum position of group is indicated；C (t) indicates the flat of particle
Equal optimum position；α is expansion-contraction factor.
G) step (e), (f) are repeated, by successive ignition until the difference between the value of global optimum position is no more than
Until 0.001, using the optimum position of current particle as the optimal estimation value of target position.
The embodiment of the present invention provides a kind of direct localization method based on Space-time domain Combined Treatment, and Fig. 1 is this method stream
Cheng Tu, Fig. 2 are location model schematic diagrames, and Fig. 3 is the Space-time domain Combined Treatment block diagram of this method, and array antenna is 10 in this example
Array element linear array, antenna aperature are half-wavelength, and observed object number Q is 4, the points of measurement L=20, sample number of snapshots K=512, time domain
Tap G=3.Execute following steps:
Step 1: establishing location model by Fig. 2, and there are 4 observed objects on ground, and true coordinate is respectively (20,200),
(50,150), (50,100), (20,50).Observation station with 20 meter per second of speed along rectilinear flight, in 20 observation point r1,…,r20
Data are acquired, the data for being 524 every the one group of data length of acquisition in 10 seconds, sampling number of snapshots are 512, according to Fig. 3 by three times
Delay process, be delayed four snaps every time, obtains the array received signal matrix being made of delay process signal
Step 2: calculating the covariance of all observation point array signal data after delay process, with sampling covariance
MatrixInstead of that is,
Step 3: to covariance matrixFeature decomposition is carried out, signal noise subspace is found out
Step 4: 25 initial particle x are uniformly distributed in observation areai,j(0), respectively (0,0), (0,50),
(0,100), (0,150), (0,200), (50,0) (50,50), (50,100), (50,150), (50,200), (100,0) (100
50), (100,100), (100,150), (100,200), (150,0) (150,50), (150,100), (150,150), (150,
200), (200,0), (200,50), (200,100), (200,150), (200,200) allow respective optimum position to be Pi,j(0)
=xi,j(0), then average optimum position C (t) is calculated；
Step 5: calculating its cost function to each particle, by the corresponding Space-time domain orientation vector point of each point in target area
Do not project and sum to noise subspace, if the average optimum position than last iteration greatly if more new individual optimum position；Such as
Fruit is bigger than the global optimum position of last iteration, just updates global optimum position；
Step 6: calculating the new position of particle according to displacement renewal equation, wherein the Spatial Dimension N=2 searched for, expansion-
Contraction factor α=0.5；
Step 7: it repeats Step 5: step 6, until the difference between the value of 10 iteration overall situation optimum positions is no more than
Until 0.001, using the optimum position of current particle as the optimal estimation value of target position.
Fig. 4 is positioning target in coordinate (20,200), (50,150), (50,100), when (20,50), is mentioned using the present invention
The direct localization method based on Space-time domain Combined Treatment out carries out the power spectrum chart of location estimation, it can be seen from the figure that this
The spectral peak based on the direct localization method of Space-time domain Combined Treatment localization method more direct than tradition of invention is more sharp, and error is more
Small, resolution ratio is more preferable.
Fig. 5 indicates that the relationship of algorithm root-mean-square error and number of snapshots is directly positioned based on Space-time domain in combination as seen from the figure
Method is more preferable than the estimation performance of pure airspace direct location, and in fewer snapshots, the method for space-time joint processing is being estimated
There is biggish promotion in performance.
Fig. 6 indicates the variation of the algorithm root-mean-square error under different signal-to-noise ratio, as seen from the figure, straight in combination using Space-time domain
It connects positioning mode and realizes that the snr threshold of successfully positioning is 5dB lower than using subspace to merge direct localization method.5dB's changes
It is kind to mean that observable distance double, keep long distance positioning more accurate, under low signal-to-noise ratio, the method for the present invention performance
More preferably.
Claims (1)
1. a kind of removable singly stand erectly based on Space-time domain Combined Treatment connects localization method, it is characterised in that include the following steps:
A) assume that antenna array elements number is M, number of source Q, and Q > M, incoming wave signal S (t) are narrow band signal, channel is made an uproar
Sound N (t) is the additive white Gaussian noise that mean value is zero, and sampling number of snapshots are K, and airspace orientation vector is Al, delay tap number be
G, and the time interval of delay process is τ, sampled data matrix v of the array in observation point l moment t- τ every timel=[v1(t-
τ),…,vM(t-τ)]T=AlS(t-τ)+N(t-τ)；
System passes through G delay process, and signal data matrix is received at observation point
In formula
AST-l(p)=[aST-l(p1),aST-l(p2),…,aST-l(pQ)]∈CM×Q
fiIndicate incoming wave signal frequency, i=1,2 ..., Q, dmIndicate the distance of m-th of array element to reference point, m=1 ..., M,
aST-lIndicate Space-time domain orientation vector；
B) covariance matrix of collection of letters number is followed by by G delay process
C) feature decomposition is carried out to covariance matrix, and calculates noise subspace
Q in formulaSIt is characterized vector matrix, ∑SIndicate diagonal matrix,Indicate signal subspace,Indicate that noise is empty
Between；
D) initial each particle x is uniformly distributed in observation areai,j(0), allowing respective optimum position is Pi,j(0)=xi,j
(0)；Calculate average optimum position C (t)；
E) by the corresponding Space-time domain orientation vector a of each point in target areaST-l(x, y, z) is projected and is asked to noise subspace respectively
With the cost function of Space-time domain Combined Treatment direct location
The optimal value of search cost function in monitoring region, finds cost function most using quantum-behaved particle swarm optimization
The figure of merit；
F) according to displacement renewal equationCalculate the new position of particle
It sets, wherein
I indicates i-th of population；M indicates total number of particles；The dimension of j expression particle；The dimension of N expression search space；T is indicated
Evolutionary generation；ui,j(t) andIt is equally distributed random number on [0 1] section；xi,j(t) position, optimum position are indicated
Use Pi,j(t) it indicates, pi,jIt (t) is attractor position；Gi,j(t) optimum position of group is indicated；C (t) indicates being averaged most for particle
Best placement；α is expansion-contraction factor；
G) step (e), (f) are repeated, until the difference between the value of global optimum position is no more than 0.001, current particle
Optimal estimation value of the optimum position as target position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910187921.6A CN109870673A (en) | 2019-03-12 | 2019-03-12 | A kind of removable singly stand erectly based on Space-time domain Combined Treatment connects localization method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910187921.6A CN109870673A (en) | 2019-03-12 | 2019-03-12 | A kind of removable singly stand erectly based on Space-time domain Combined Treatment connects localization method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109870673A true CN109870673A (en) | 2019-06-11 |
Family
ID=66920266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910187921.6A Pending CN109870673A (en) | 2019-03-12 | 2019-03-12 | A kind of removable singly stand erectly based on Space-time domain Combined Treatment connects localization method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109870673A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112578335A (en) * | 2020-11-29 | 2021-03-30 | 西北工业大学 | Method for direct positioning of strong and weak signals and estimation of information source number |
| CN115119142A (en) * | 2022-06-22 | 2022-09-27 | 杭州电子科技大学 | Distributed direct positioning method based on sensor network |
| CN115932907A (en) * | 2022-12-16 | 2023-04-07 | 南京航空航天大学 | Single-target direct tracking method based on Kalman filter and particle swarm optimization |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104515971A (en) * | 2014-12-25 | 2015-04-15 | 西安电子科技大学 | Airborne single-station passive positioning method for multiple broadband targets |
| CN107071898A (en) * | 2017-04-14 | 2017-08-18 | 中国人民解放军信息工程大学 | Mobile communication signal source data domain direct position method of estimation and its device |
| CN108872971A (en) * | 2018-07-19 | 2018-11-23 | 中国人民解放军战略支援部队信息工程大学 | A kind of object localization method and device based on the single array of movement |
-
2019
- 2019-03-12 CN CN201910187921.6A patent/CN109870673A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104515971A (en) * | 2014-12-25 | 2015-04-15 | 西安电子科技大学 | Airborne single-station passive positioning method for multiple broadband targets |
| CN107071898A (en) * | 2017-04-14 | 2017-08-18 | 中国人民解放军信息工程大学 | Mobile communication signal source data domain direct position method of estimation and its device |
| CN108872971A (en) * | 2018-07-19 | 2018-11-23 | 中国人民解放军战略支援部队信息工程大学 | A kind of object localization method and device based on the single array of movement |
Non-Patent Citations (11)
| Title |
|---|
| DEMISSIE, B 等: "Localization of multiple sources with a moving array using subspace data fusion", 《2008 11TH INTERNATIONAL CONFERENCE ON INFORMATION FUSION》 * |
| OISPUU, M: "Direct detection and position determination of multiple sources with intermittent emission", 《SIGNAL PROCESSING》 * |
| YIN, JX 等: "Direct Localization of Multiple Stationary Narrowband Sources Based on Angle and Doppler", 《IEEE COMMUNICATIONS LETTERS》 * |
| YIN, JX 等: "Direct Position Determination Based on Unitary Space-time Subspace", 《2017 9TH INTERNATIONAL CONFERENCE ON WIRELESS COMMUNICATIONS AND SIGNAL》 * |
| 刘燕 等: "北斗导航接收机空时自适应干扰抑制算法研究", 《微型机与应用》 * |
| 吴癸周 等: "基于改进的高阶累积量的运动单站高分辨率直接定位方法", 《航天电子对抗》 * |
| 姚锐: "北斗接收机空时联合抗干扰算法研究", 《电子科技》 * |
| 张敏等: "基于单个长基线干涉仪的运动单站直接定位", 《航空学报》 * |
| 徐娟 等: "频域空时域级联导航抗干扰技术研究", 《弹箭与制导学报》 * |
| 李春奇等: "利用多普勒的运动单站直接定位算法", 《信号处理》 * |
| 王鼎等: "一种针对恒模信号的运动单站直接定位算法", 《航空学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112578335A (en) * | 2020-11-29 | 2021-03-30 | 西北工业大学 | Method for direct positioning of strong and weak signals and estimation of information source number |
| CN115119142A (en) * | 2022-06-22 | 2022-09-27 | 杭州电子科技大学 | Distributed direct positioning method based on sensor network |
| CN115932907A (en) * | 2022-12-16 | 2023-04-07 | 南京航空航天大学 | Single-target direct tracking method based on Kalman filter and particle swarm optimization |
| CN115932907B (en) * | 2022-12-16 | 2024-02-13 | 南京航空航天大学 | Single-target direct tracking method based on Kalman filter and particle swarm optimization |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109870673A (en) | A kind of removable singly stand erectly based on Space-time domain Combined Treatment connects localization method | |
| Musicki et al. | Geolocation using TDOA and FDOA measurements | |
| CN107132505A (en) | The through direct localization method of multiple target with non-through mixing field scape | |
| CN107942314B (en) | Doppler through-wall radar positioning method based on LASSO feature extraction | |
| CN108872971B (en) | Target positioning method and device based on motion single array | |
| CN104811886B (en) | Microphone array direction-finding method based on phase difference measurement | |
| Hoang et al. | A CNN-LSTM quantifier for single access point CSI indoor localization | |
| CN111856444A (en) | UWB-based multi-target positioning tracking method | |
| CN109324322A (en) | A kind of direction finding and target identification method based on passive phased array antenna | |
| CN111352067B (en) | Passive positioning method for multi-target passive synthetic aperture | |
| CN109188019A (en) | Tri-dimensional wind speed wind direction measurement method based on multiple signal classification algorithm | |
| CN111948618A (en) | Forward scattering target detection method and system based on satellite external radiation source | |
| CN109975842A (en) | A kind of blind catching method of Big Dipper satellite signal high-precision based on wavelet transformation | |
| CN103064084A (en) | Ambiguity solving method based on distance frequency domain | |
| CN111199281A (en) | Short wave single-station direct positioning deviation compensation method based on geographical coordinate airspace position spectrum | |
| CN108872947B (en) | Sea clutter suppression method based on subspace technology | |
| CN1299123C (en) | Parameter estimation method for modelling noise Doppler of airborne radar | |
| CN110082732A (en) | A kind of synchronization bait decision-making system and method calculated based on covariance multiple in arteries and veins | |
| FR2865281A1 (en) | METHOD FOR LOCATING ONE OR MORE TRANSMITTERS | |
| RU2546329C1 (en) | Method for polarisation-sensitive detection of mobile objects | |
| RU2524399C1 (en) | Method of detecting small-size mobile objects | |
| CN111079929B (en) | Short-wave single-station multi-target geographical coordinate rapid estimation method based on neural calculation | |
| CN114325560A (en) | Super-resolution target direction finding method for beam scanning radar | |
| Slama et al. | Use of 5G and mmWave radar for positioning, sensing, and line-of-sight detection in airport areas | |
| CN109375156A (en) | The research method of sensing system single goal Cramér-Rao lower bound based on information theory |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200117 Address after: 518000 Guangdong city of Shenzhen province Nanshan District Guangdong streets High-tech Industrial Park in the Southern District of Virtual University Park Applicant after: RESEARCH & DEVELOPMENT INSTITUTE OF NORTHWESTERN POLYTECHNICAL University IN SHENZHEN Applicant after: Northwestern Polytechnical University Address before: 710072 Xi'an friendship West Road, Shaanxi, No. 127 Applicant before: Northwestern Polytechnical University |
|
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190611 |